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Added parameter RGBD/GoalMaxDistance, fixed graph:computePath() warnings

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Mathieu Labbe
2015-02-18 16:57:16 -05:00
parent 9dfbe8d233
commit cead1e00d4
7 changed files with 124 additions and 41 deletions
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4
corelib/include/rtabmap/core/Graph.h
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@@ -101,13 +101,15 @@ std::multimap<int, int> RTABMAP_EXP radiusPosesClustering(
* @param links The graph's links (from node id -> to node id)
* @param from initial node
* @param to final node
* @param updateNewCosts Keep up-to-date costs while traversing the graph.
* @return the path ids from id "from" to id "to" including initial and final nodes.
*/
std::list<std::pair<int, Transform> > RTABMAP_EXP computePath(
const std::map<int, rtabmap::Transform> & poses,
const std::multimap<int, int> & links,
int from,
int to);
int to,
bool updateNewCosts = false);
int RTABMAP_EXP findNearestNode(
const std::map<int, rtabmap::Transform> & nodes,

1
corelib/include/rtabmap/core/Parameters.h
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@@ -292,6 +292,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, GoalReachedRadius, float, 0.5, "Goal reached radius (m).");
RTABMAP_PARAM(RGBD, MaxAnticipatedNodes, unsigned int, 10, "Maximum anticipated nodes on the computed path that can be retrieved (the number of nodes actually retrieved at each iteration is limited by \"Rtabmap/MaxRetrieved\").");
RTABMAP_PARAM(RGBD, PlanWithNearNodesLinked, bool, true, "Before planning in the graph, near nodes are linked together (even if they don't belong to same map). Radius is defined by \"RGBD/GoalReachedRadius\" parameter.");
RTABMAP_PARAM(RGBD, GoalMaxDistance, float, 0, "Maximum distance (m) of the target goal from the graph (0 means infinity). If the goal is too far from the graph, the plan is aborted. Also when set, the next goal in the graph can't be farther than this distance from the current position.");
// Local loop closure detection
RTABMAP_PARAM(RGBD, LocalLoopDetectionTime, bool, false, "Detection over all locations in STM.");

2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -93,6 +93,7 @@ public:
Transform getMapCorrection() const {return _mapCorrection;}
const Memory * getMemory() const {return _memory;}
float getGoalReachedRadius() const {return _goalReachedRadius;}
float getGoalMaxDistance() const {return _goalMaxDistance;}
float getTimeThreshold() const {return _maxTimeAllowed;} // in ms
void setTimeThreshold(float maxTimeAllowed); // in ms
@@ -183,6 +184,7 @@ private:
float _goalReachedRadius; // meters
unsigned int _maxAnticipatedNodes;
bool _planWithNearNodesLinked;
float _goalMaxDistance;
std::pair<int, float> _loopClosureHypothesis;
std::pair<int, float> _highestHypothesis;