i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.10.12: Added rtabmap::getLastLocalizationPose() method (to get last corrected pose either in mapping or localization mode)

Browse Source
This commit is contained in:
matlabbe
2015-11-25 15:45:27 -05:00
parent 10d683a38e
commit cd39a8c027
2 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -100,6 +100,7 @@ public:
const Memory * getMemory() const {return _memory;}
float getGoalReachedRadius() const {return _goalReachedRadius;}
float getLocalRadius() const {return _localRadius;}
const Transform & getLastLocalizationPose() const {return _lastLocalizationPose;}
float getTimeThreshold() const {return _maxTimeAllowed;} // in ms
void setTimeThreshold(float maxTimeAllowed); // in ms
@@ -242,7 +243,7 @@ private:
std::map<int, Transform> _optimizedPoses;
std::multimap<int, Link> _constraints;
Transform _mapCorrection;
Transform _lastLocalizationPose; // for localization mode
Transform _lastLocalizationPose; // Corrected odometry pose. In mapping mode, this corresponds to last pose return by getLocalOptimizedPoses().
int _lastLocalizationNodeId; // for localization mode
// Planning stuff