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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="classrtabmap_1_1LocalGridCache-members.html">List of all members</a> </div>
<div class="headertitle"><div class="title">rtabmap::LocalGridCache Class Reference</div></div>
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<p>Cache of <a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> entries keyed by map node id.
<a href="classrtabmap_1_1LocalGridCache.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a2e83e9c0c11051b5da84bf04b603a99b" id="r_a2e83e9c0c11051b5da84bf04b603a99b"><td class="memItemLeft" align="right" valign="top"><a id="a2e83e9c0c11051b5da84bf04b603a99b" name="a2e83e9c0c11051b5da84bf04b603a99b"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>add</b> (int nodeId, const cv::Mat &amp;ground, const cv::Mat &amp;obstacles, const cv::Mat &amp;empty, float cellSize, const cv::Point3f &amp;viewPoint=cv::Point3f(0, 0, 0))</td></tr>
<tr class="memdesc:a2e83e9c0c11051b5da84bf04b603a99b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inserts or replaces the grid for <code>nodeId</code> (from separate cell mats). <br /></td></tr>
<tr class="separator:a2e83e9c0c11051b5da84bf04b603a99b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a765142f021aa580bcfdd84545ebc044f" id="r_a765142f021aa580bcfdd84545ebc044f"><td class="memItemLeft" align="right" valign="top"><a id="a765142f021aa580bcfdd84545ebc044f" name="a765142f021aa580bcfdd84545ebc044f"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>add</b> (int nodeId, const <a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> &amp;localGrid)</td></tr>
<tr class="memdesc:a765142f021aa580bcfdd84545ebc044f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inserts or replaces the grid for <code>nodeId</code>. <br /></td></tr>
<tr class="separator:a765142f021aa580bcfdd84545ebc044f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6350523acd5ce71be45cd653071837fc" id="r_a6350523acd5ce71be45cd653071837fc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridCache.html#a6350523acd5ce71be45cd653071837fc">shareTo</a> (int nodeId, <a class="el" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> &amp;anotherCache) const</td></tr>
<tr class="memdesc:a6350523acd5ce71be45cd653071837fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copies a grid to <code>anotherCache</code> if present here and absent there. <br /></td></tr>
<tr class="separator:a6350523acd5ce71be45cd653071837fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab72a88b5c00d2a104ac1055538960acb" id="r_ab72a88b5c00d2a104ac1055538960acb"><td class="memItemLeft" align="right" valign="top"><a id="ab72a88b5c00d2a104ac1055538960acb" name="ab72a88b5c00d2a104ac1055538960acb"></a>
unsigned long&#160;</td><td class="memItemRight" valign="bottom"><b>getMemoryUsed</b> () const</td></tr>
<tr class="memdesc:ab72a88b5c00d2a104ac1055538960acb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Approximate memory used by cached grids (bytes). <br /></td></tr>
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<tr class="memitem:a4068440ef10859d05f252e36f916604b" id="r_a4068440ef10859d05f252e36f916604b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridCache.html#a4068440ef10859d05f252e36f916604b">clear</a> (bool temporaryOnly=false)</td></tr>
<tr class="memdesc:a4068440ef10859d05f252e36f916604b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Removes cached grids. <br /></td></tr>
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<tr class="memitem:a8337bd96da4ff27b9b64b53422169c59" id="r_a8337bd96da4ff27b9b64b53422169c59"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridCache.html#a8337bd96da4ff27b9b64b53422169c59">size</a> () const</td></tr>
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<tr class="memitem:a2eab437a5cdcef9f32f2409b13e0501a" id="r_a2eab437a5cdcef9f32f2409b13e0501a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridCache.html#a2eab437a5cdcef9f32f2409b13e0501a">empty</a> () const</td></tr>
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<tr class="memitem:a649f51ce149ae62c02f1f29a9615b37f" id="r_a649f51ce149ae62c02f1f29a9615b37f"><td class="memItemLeft" align="right" valign="top">const std::map&lt; int, <a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridCache.html#a649f51ce149ae62c02f1f29a9615b37f">localGrids</a> () const</td></tr>
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<tr class="memitem:a868fedccc80d7581cdd5a2deab17cff6" id="r_a868fedccc80d7581cdd5a2deab17cff6"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, <a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> &gt;::const_iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridCache.html#a868fedccc80d7581cdd5a2deab17cff6">find</a> (int nodeId) const</td></tr>
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<tr class="memitem:a1fb77345d3aa4937fe09aafcb31a36dd" id="r_a1fb77345d3aa4937fe09aafcb31a36dd"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, <a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> &gt;::const_iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridCache.html#a1fb77345d3aa4937fe09aafcb31a36dd">begin</a> () const</td></tr>
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<tr class="memitem:a5f681940b3ce1f66c19813826f9c28e0" id="r_a5f681940b3ce1f66c19813826f9c28e0"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, <a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> &gt;::const_iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridCache.html#a5f681940b3ce1f66c19813826f9c28e0">end</a> () const</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Cache of <a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> entries keyed by map node id. </p>
<p>Used by <a class="el" href="classrtabmap_1_1GlobalMap.html">GlobalMap</a> and its subclasses (e.g. <a class="el" href="classrtabmap_1_1OccupancyGrid.html">OccupancyGrid</a>) to hold per-node local grids before assembly. Node id <code>0</code> is stored as <code>-1</code> (temporary grid). Negative ids passed to <a class="el" href="classrtabmap_1_1LocalGridCache.html#a2e83e9c0c11051b5da84bf04b603a99b">add()</a> are rejected. </p>
<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00097">97</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a14eba075298ead168c6ea5a621e564a3">&#9670;&#160;</a></span>LocalGridCache()</h2>
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<td class="memname">rtabmap::LocalGridCache::LocalGridCache </td>
<td>(</td>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00100">100</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#abfc545493581e7c0a5b409fda84fe4d4">&#9670;&#160;</a></span>~LocalGridCache()</h2>
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<td class="memname">virtual rtabmap::LocalGridCache::~LocalGridCache </td>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00101">101</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a6350523acd5ce71be45cd653071837fc">&#9670;&#160;</a></span>shareTo()</h2>
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<td class="memname">bool rtabmap::LocalGridCache::shareTo </td>
<td>(</td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>nodeId</em>, </td>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> &amp;&#160;</td>
<td class="paramname"><em>anotherCache</em>&#160;</td>
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<p>Copies a grid to <code>anotherCache</code> if present here and absent there. </p>
<dl class="section return"><dt>Returns</dt><dd>True if a grid was shared. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a4068440ef10859d05f252e36f916604b">&#9670;&#160;</a></span>clear()</h2>
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<td class="memname">void rtabmap::LocalGridCache::clear </td>
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<p>Removes cached grids. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">temporaryOnly</td><td>If true, removes only entries with negative ids (e.g. <code>-1</code>). </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#a8337bd96da4ff27b9b64b53422169c59">&#9670;&#160;</a></span>size()</h2>
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<td class="memname">size_t rtabmap::LocalGridCache::size </td>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00129">129</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2eab437a5cdcef9f32f2409b13e0501a">&#9670;&#160;</a></span>empty()</h2>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00130">130</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a649f51ce149ae62c02f1f29a9615b37f">&#9670;&#160;</a></span>localGrids()</h2>
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<td class="memname">const std::map&lt; int, <a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> &gt; &amp; rtabmap::LocalGridCache::localGrids </td>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00131">131</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00133">133</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<td class="memname">std::map&lt; int, <a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> &gt;::const_iterator rtabmap::LocalGridCache::begin </td>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00134">134</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a5f681940b3ce1f66c19813826f9c28e0">&#9670;&#160;</a></span>end()</h2>
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<td class="memname">std::map&lt; int, <a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> &gt;::const_iterator rtabmap::LocalGridCache::end </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00135">135</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a></li>
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