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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef SRC_MAP_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define SRC_MAP_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;rtabmap/core/LocalGrid.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;rtabmap/core/Parameters.h&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;rtabmap/core/Transform.h&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="foldopen" id="foldopen00055" data-start="{" data-end="};">
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html"> 55</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1GlobalMap.html">GlobalMap</a></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span>{</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span><span class="keyword">public</span>:</div>
<div class="foldopen" id="foldopen00059" data-start="{" data-end="}">
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#aff0b3450ec3db63b9dcb140ff0cbe77a"> 59</a></span> <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#aff0b3450ec3db63b9dcb140ff0cbe77a">logodds</a>(<span class="keywordtype">double</span> probability)</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> {</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordflow">return</span> (<span class="keywordtype">float</span>) log(probability/(1-probability));</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> }</div>
</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> </div>
<div class="foldopen" id="foldopen00065" data-start="{" data-end="}">
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a54fd556aa295938077539e85b2be829a"> 65</a></span> <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a54fd556aa295938077539e85b2be829a">probability</a>(<span class="keywordtype">double</span> logodds)</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> {</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="keywordflow">return</span> 1. - ( 1. / (1. + exp(logodds)));</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> }</div>
</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> </div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1GlobalMap.html">~GlobalMap</a>();</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a11e9ba83337edf7f08f3c50064be028a"> 83</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a11e9ba83337edf7f08f3c50064be028a">fullUpdateNeeded</a>(<span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> </div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#aa21a1e3baba94ded5663a8057a3b8cd6"> 90</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#aa21a1e3baba94ded5663a8057a3b8cd6">update</a>(<span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses);</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213"> 93</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213">clear</a>();</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> </div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a445f18d347d5624a012f756eb9fe5320"> 96</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a445f18d347d5624a012f756eb9fe5320">getCellSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> cellSize_;}</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a99c3840a89e76a091cf59cfaf1a8bcc4"> 98</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a99c3840a89e76a091cf59cfaf1a8bcc4">getUpdateError</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> updateError_;}</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a98c2c10030cfa64c1b72d17f046243f4"> 100</a></span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a98c2c10030cfa64c1b72d17f046243f4">addedNodes</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> addedNodes_;}</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#aaf028c4c070aa8568eaaf3dae4b926ee"> 103</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#aaf028c4c070aa8568eaaf3dae4b926ee">getGridMin</a>(<span class="keywordtype">double</span> &amp; x, <span class="keywordtype">double</span> &amp; y)<span class="keyword"> const </span>{x=minValues_[0];y=minValues_[1];}</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#aa840b2e62893de929f952b8511df6164"> 105</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#aa840b2e62893de929f952b8511df6164">getGridMax</a>(<span class="keywordtype">double</span> &amp; x, <span class="keywordtype">double</span> &amp; y)<span class="keyword"> const </span>{x=maxValues_[0];y=maxValues_[1];}</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a37adbbb0e80ba76cfa080cec9811cca3"> 107</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a37adbbb0e80ba76cfa080cec9811cca3">getGridMin</a>(<span class="keywordtype">double</span> &amp; x, <span class="keywordtype">double</span> &amp; y, <span class="keywordtype">double</span> &amp; z)<span class="keyword"> const </span>{x=minValues_[0];y=minValues_[1];z=minValues_[2];}</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a060366742fc8f51deaf7dd75b66615c7"> 109</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a060366742fc8f51deaf7dd75b66615c7">getGridMax</a>(<span class="keywordtype">double</span> &amp; x, <span class="keywordtype">double</span> &amp; y, <span class="keywordtype">double</span> &amp; z)<span class="keyword"> const </span>{x=maxValues_[0];y=maxValues_[1];z=maxValues_[2];}</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a20031690daf7a7e9195ae97abf46522b"> 112</a></span> <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a20031690daf7a7e9195ae97abf46522b">getMemoryUsed</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a03581caaa2a313b131726af4e4a6b714"> 120</a></span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a03581caaa2a313b131726af4e4a6b714">GlobalMap</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> * cache, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f"> 123</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f">assemble</a>(<span class="keyword">const</span> std::list&lt;std::pair&lt;int, Transform&gt; &gt; &amp; newPoses) = 0;</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a632f06ccce72bce66a9fd38d37f23b80"> 126</a></span> <span class="keyword">const</span> std::map&lt;int, LocalGrid&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a632f06ccce72bce66a9fd38d37f23b80">cache</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> cache_-&gt;localGrids();}</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a7fc3f43e65401d3842419066242e081d"> 129</a></span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a7fc3f43e65401d3842419066242e081d">assembledNodes</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> addedNodes_;}</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a9c853fcade3b4b9bd4f49b6a07025e6d"> 131</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a9c853fcade3b4b9bd4f49b6a07025e6d">isNodeAssembled</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {<span class="keywordflow">return</span> addedNodes_.find(<span class="keywordtype">id</span>) != addedNodes_.end();}</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a0b95370df2582da48ff0e1e405cccda2"> 133</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a0b95370df2582da48ff0e1e405cccda2">addAssembledNode</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose);</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> </div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <span class="keywordtype">float</span> cellSize_;</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="keywordtype">float</span> updateError_;</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> </div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keywordtype">float</span> occupancyThr_;</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keywordtype">float</span> logOddsHit_;</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keywordtype">float</span> logOddsMiss_;</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordtype">float</span> logOddsClampingMin_;</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordtype">float</span> logOddsClampingMax_;</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> </div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keywordtype">double</span> minValues_[3];</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keywordtype">double</span> maxValues_[3];</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> </div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> * cache_;</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> std::map&lt;int, Transform&gt; addedNodes_;</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span>};</div>
</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> </div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span><span class="preprocessor">#endif </span><span class="comment">/* SRC_MAP_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html">rtabmap::GlobalMap</a></div><div class="ttdoc">Abstract base for assembling per-node LocalGrid data into a global map.</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00055">GlobalMap.h:56</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a03581caaa2a313b131726af4e4a6b714"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a03581caaa2a313b131726af4e4a6b714">rtabmap::GlobalMap::GlobalMap</a></div><div class="ttdeci">GlobalMap(const LocalGridCache *cache, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Constructs the base map; subclasses call from their constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a060366742fc8f51deaf7dd75b66615c7"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a060366742fc8f51deaf7dd75b66615c7">rtabmap::GlobalMap::getGridMax</a></div><div class="ttdeci">void getGridMax(double &amp;x, double &amp;y, double &amp;z) const</div><div class="ttdoc">3D grid maximum (x, y, z) in meters.</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00109">GlobalMap.h:109</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a0b95370df2582da48ff0e1e405cccda2"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a0b95370df2582da48ff0e1e405cccda2">rtabmap::GlobalMap::addAssembledNode</a></div><div class="ttdeci">void addAssembledNode(int id, const Transform &amp;pose)</div><div class="ttdoc">Records a successfully assembled node (ids &lt;= 0 are ignored).</div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a11e9ba83337edf7f08f3c50064be028a"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a11e9ba83337edf7f08f3c50064be028a">rtabmap::GlobalMap::fullUpdateNeeded</a></div><div class="ttdeci">bool fullUpdateNeeded(const std::map&lt; int, Transform &gt; &amp;poses) const</div><div class="ttdoc">True if the map should be rebuilt from cache (loop closure or disjoint graph).</div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a20031690daf7a7e9195ae97abf46522b"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a20031690daf7a7e9195ae97abf46522b">rtabmap::GlobalMap::getMemoryUsed</a></div><div class="ttdeci">virtual unsigned long getMemoryUsed() const</div><div class="ttdoc">Approximate memory used by assembled-node bookkeeping (bytes).</div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a37adbbb0e80ba76cfa080cec9811cca3"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a37adbbb0e80ba76cfa080cec9811cca3">rtabmap::GlobalMap::getGridMin</a></div><div class="ttdeci">void getGridMin(double &amp;x, double &amp;y, double &amp;z) const</div><div class="ttdoc">3D grid minimum (x, y, z) in meters.</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00107">GlobalMap.h:107</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a445f18d347d5624a012f756eb9fe5320"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a445f18d347d5624a012f756eb9fe5320">rtabmap::GlobalMap::getCellSize</a></div><div class="ttdeci">float getCellSize() const</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00096">GlobalMap.h:96</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a54fd556aa295938077539e85b2be829a"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a54fd556aa295938077539e85b2be829a">rtabmap::GlobalMap::probability</a></div><div class="ttdeci">static double probability(double logodds)</div><div class="ttdoc">Converts log-odds back to probability in (0, 1).</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00065">GlobalMap.h:65</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a632f06ccce72bce66a9fd38d37f23b80"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a632f06ccce72bce66a9fd38d37f23b80">rtabmap::GlobalMap::cache</a></div><div class="ttdeci">const std::map&lt; int, LocalGrid &gt; &amp; cache() const</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00126">GlobalMap.h:126</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a7fc3f43e65401d3842419066242e081d"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a7fc3f43e65401d3842419066242e081d">rtabmap::GlobalMap::assembledNodes</a></div><div class="ttdeci">const std::map&lt; int, Transform &gt; &amp; assembledNodes() const</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00129">GlobalMap.h:129</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a98c2c10030cfa64c1b72d17f046243f4"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a98c2c10030cfa64c1b72d17f046243f4">rtabmap::GlobalMap::addedNodes</a></div><div class="ttdeci">const std::map&lt; int, Transform &gt; &amp; addedNodes() const</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00100">GlobalMap.h:100</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a99c3840a89e76a091cf59cfaf1a8bcc4"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a99c3840a89e76a091cf59cfaf1a8bcc4">rtabmap::GlobalMap::getUpdateError</a></div><div class="ttdeci">float getUpdateError() const</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00098">GlobalMap.h:98</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_a9c853fcade3b4b9bd4f49b6a07025e6d"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#a9c853fcade3b4b9bd4f49b6a07025e6d">rtabmap::GlobalMap::isNodeAssembled</a></div><div class="ttdeci">bool isNodeAssembled(int id)</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00131">GlobalMap.h:131</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_aa21a1e3baba94ded5663a8057a3b8cd6"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#aa21a1e3baba94ded5663a8057a3b8cd6">rtabmap::GlobalMap::update</a></div><div class="ttdeci">bool update(const std::map&lt; int, Transform &gt; &amp;poses)</div><div class="ttdoc">Incrementally assemble new nodes from poses.</div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_aa6701a09e2532877e73d5b1ba8cb1213"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213">rtabmap::GlobalMap::clear</a></div><div class="ttdeci">virtual void clear()</div><div class="ttdoc">Clears assembled nodes and grid bounds; does not clear LocalGridCache.</div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_aa840b2e62893de929f952b8511df6164"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#aa840b2e62893de929f952b8511df6164">rtabmap::GlobalMap::getGridMax</a></div><div class="ttdeci">void getGridMax(double &amp;x, double &amp;y) const</div><div class="ttdoc">2D grid maximum (x, y) in meters.</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00105">GlobalMap.h:105</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_aaf028c4c070aa8568eaaf3dae4b926ee"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#aaf028c4c070aa8568eaaf3dae4b926ee">rtabmap::GlobalMap::getGridMin</a></div><div class="ttdeci">void getGridMin(double &amp;x, double &amp;y) const</div><div class="ttdoc">2D grid minimum (x, y) in meters.</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00103">GlobalMap.h:103</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_ae622850e2447bf1cc3e99ee9dcd4b65f"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f">rtabmap::GlobalMap::assemble</a></div><div class="ttdeci">virtual void assemble(const std::list&lt; std::pair&lt; int, Transform &gt; &gt; &amp;newPoses)=0</div><div class="ttdoc">Subclass hook: merge newPoses into the global map; call addAssembledNode().</div></div>
<div class="ttc" id="aclassrtabmap_1_1GlobalMap_html_aff0b3450ec3db63b9dcb140ff0cbe77a"><div class="ttname"><a href="classrtabmap_1_1GlobalMap.html#aff0b3450ec3db63b9dcb140ff0cbe77a">rtabmap::GlobalMap::logodds</a></div><div class="ttdeci">static float logodds(double probability)</div><div class="ttdoc">Converts probability in (0, 1) to log-odds.</div><div class="ttdef"><b>Definition</b> <a href="GlobalMap_8h_source.html#l00059">GlobalMap.h:59</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridCache_html"><div class="ttname"><a href="classrtabmap_1_1LocalGridCache.html">rtabmap::LocalGridCache</a></div><div class="ttdoc">Cache of LocalGrid entries keyed by map node id.</div><div class="ttdef"><b>Definition</b> <a href="LocalGrid_8h_source.html#l00097">LocalGrid.h:98</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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