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Rtabmap::computePath() added tolerance parameter to overwrite default RGBD/LocalRadius

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matlabbe
2018-07-09 15:11:19 -04:00
parent 41d5e11511
commit d41c15dbc7
2 changed files with 10 additions and 5 deletions
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2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -171,7 +171,7 @@ public:
int getPathStatus() const {return _pathStatus;} // -1=failed 0=idle/executing 1=success
void clearPath(int status); // -1=failed 0=idle/executing 1=success
bool computePath(int targetNode, bool global);
bool computePath(const Transform & targetPose); // only in current optimized map
bool computePath(const Transform & targetPose, float tolerance = -1.0f); // only in current optimized map, tolerance (m) < 0 means RGBD/LocalRadius, 0 means infinite
const std::vector<std::pair<int, Transform> > & getPath() const {return _path;}
std::vector<std::pair<int, Transform> > getPathNextPoses() const;
std::vector<int> getPathNextNodes() const;