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GUI: The global path is transformed in the current referential as the robot moves. Moved Goal actions in Detection menu.

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matlabbe
2015-09-21 18:12:55 -04:00
parent b6d2c6163e
commit c60a808c75
5 changed files with 43 additions and 7 deletions
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2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -137,6 +137,8 @@ public:
std::vector<std::pair<int, Transform> > getPathNextPoses() const;
std::vector<int> getPathNextNodes() const;
int getPathCurrentGoalId() const;
unsigned int getPathCurrentIndex() const {return _pathCurrentIndex;}
unsigned int getPathCurrentGoalIndex() const {return _pathGoalIndex;}
const Transform & getPathTransformToGoal() const {return _pathTransformToGoal;}
std::map<int, Transform> getForwardWMPoses(int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const;