Files
rtabmap/api/latest/OdometryEvent_8h_source.html
T

270 lines
45 KiB
HTML

<!-- HTML header for doxygen 1.9.8-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.9.8"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>RTAB-Map: corelib/include/rtabmap/core/OdometryEvent.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
<link href="custom.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
<script type="text/javascript" src="../versions.js"></script>
<script type="text/javascript" src="version-switcher.js"></script>
<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr id="projectrow">
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.12</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.8 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
var searchBox = new SearchBox("searchBox", "search/",'.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(function() {
initMenu('',true,false,'search.php','Search');
$(document).ready(function() { init_search(); });
});
/* @license-end */
</script>
<div id="main-nav"></div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
</div>
</div>
<div id="splitbar" style="-moz-user-select:none;"
class="ui-resizable-handle">
</div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('OdometryEvent_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<div id="MSearchResults">
<div class="SRPage">
<div id="SRIndex">
<div id="SRResults"></div>
<div class="SRStatus" id="Loading">Loading...</div>
<div class="SRStatus" id="Searching">Searching...</div>
<div class="SRStatus" id="NoMatches">No Matches</div>
</div>
</div>
</div>
</div>
<div class="header">
<div class="headertitle"><div class="title">OdometryEvent.h</div></div>
</div><!--header-->
<div class="contents">
<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) 2010-2016, 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 ODOMETRYEVENT_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define ODOMETRYEVENT_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/utilite/UEvent.h&quot;</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include &quot;<a class="code" href="ULogger_8h.html">rtabmap/utilite/ULogger.h</a>&quot;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &quot;<a class="code" href="UMath_8h.html">rtabmap/utilite/UMath.h</a>&quot;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &quot;rtabmap/core/SensorData.h&quot;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &quot;rtabmap/core/OdometryInfo.h&quot;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="foldopen" id="foldopen00056" data-start="{" data-end="};">
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html"> 56</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUEvent.html">UEvent</a></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>{</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="keyword">public</span>:</div>
<div class="foldopen" id="foldopen00060" data-start="{" data-end="}">
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#aaf1fc834b6016a79b28883d20f336020"> 60</a></span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#aaf1fc834b6016a79b28883d20f336020">OdometryEvent</a>()</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> {</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a> = cv::Mat::eye(6,6,CV_64FC1);</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> }</div>
</div>
<div class="foldopen" id="foldopen00073" data-start="{" data-end="}">
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#a0667339a1f0135ac2b67180b663a028f"> 73</a></span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a0667339a1f0135ac2b67180b663a028f">OdometryEvent</a>(</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33">data</a>,</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25">pose</a>,</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5">info</a> = <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a>()) :</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> _data(<a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33">data</a>),</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> _pose(<a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25">pose</a>),</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> _info(<a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5">info</a>)</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> {</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keywordflow">if</span>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.empty())</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> {</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a> = cv::Mat::eye(6,6,CV_64FC1);</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> }</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.cols == 6 &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.rows == 6 &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.type() == CV_64FC1);</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(0,0)) &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(0,0)&gt;0, <span class="stringliteral">&quot;Transitional variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(1,1)) &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(1,1)&gt;0, <span class="stringliteral">&quot;Transitional variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(2,2)) &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(2,2)&gt;0, <span class="stringliteral">&quot;Transitional variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(3,3)) &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(3,3)&gt;0, <span class="stringliteral">&quot;Rotational variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(4,4)) &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(4,4)&gt;0, <span class="stringliteral">&quot;Rotational variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(5,5)) &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(5,5)&gt;0, <span class="stringliteral">&quot;Rotational variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> }</div>
</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">~OdometryEvent</a>() {}</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#a461365124cbdf488d3a05874be8c4bb2"> 94</a></span> <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a461365124cbdf488d3a05874be8c4bb2">getClassName</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="stringliteral">&quot;OdometryEvent&quot;</span>;}</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33"> 97</a></span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33">data</a>() {<span class="keywordflow">return</span> _data;}</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#ac29fe21e2ba017148dae0dfd9d8c028c"> 99</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#ac29fe21e2ba017148dae0dfd9d8c028c">data</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _data;}</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25"> 101</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25">pose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pose;}</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#a13be8ff5e398f9fd00d09aac8deddaba"> 103</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a13be8ff5e398f9fd00d09aac8deddaba">covariance</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>;}</div>
<div class="foldopen" id="foldopen00109" data-start="{" data-end="}">
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398"> 109</a></span> std::vector&lt;float&gt; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>()<span class="keyword"> const </span>{</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordflow">if</span>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>&gt;0.0)</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> {</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> std::vector&lt;float&gt; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>(6,0);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">float</span> x,y,z,roll,pitch,yaw;</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">transform</a>.<a class="code hl_function" href="classrtabmap_1_1Transform.html#aad65adff491fd57a31dbe4e26d7f29af">getTranslationAndEulerAngles</a>(x,y,z,roll,pitch,yaw);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>[0] = x/_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>;</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>[1] = y/_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>[2] = z/_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>;</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>[3] = roll/_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>;</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>[4] = pitch/_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>;</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>[5] = yaw/_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>;</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordflow">return</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>;</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> }</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keywordflow">return</span> std::vector&lt;float&gt;();</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> }</div>
</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5"> 126</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5">info</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _info;}</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> _data;</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _pose;</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> _info;</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span>};</div>
</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
<div class="foldopen" id="foldopen00144" data-start="{" data-end="};">
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryResetEvent.html"> 144</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1OdometryResetEvent.html">OdometryResetEvent</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUEvent.html">UEvent</a></div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span>{</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryResetEvent.html#a035eee412d9bda7da321523baff799f3"> 148</a></span> <a class="code hl_function" href="classrtabmap_1_1OdometryResetEvent.html#a035eee412d9bda7da321523baff799f3">OdometryResetEvent</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>()){_pose = pose;}</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryResetEvent.html">~OdometryResetEvent</a>() {}</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryResetEvent.html#a94dc8e8b7ec952c0ca2b393cc0f3e71d"> 150</a></span> <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classrtabmap_1_1OdometryResetEvent.html#a94dc8e8b7ec952c0ca2b393cc0f3e71d">getClassName</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="stringliteral">&quot;OdometryResetEvent&quot;</span>;}</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryResetEvent.html#ae756dea7a2e79fd918dd4c158085bc68"> 152</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryResetEvent.html#ae756dea7a2e79fd918dd4c158085bc68">getPose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pose;}</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _pose;</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span>};</div>
</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> </div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span>}</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> </div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> </div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYEVENT_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aULogger_8h_html"><div class="ttname"><a href="ULogger_8h.html">ULogger.h</a></div><div class="ttdoc">ULogger class and convenient macros.</div></div>
<div class="ttc" id="aULogger_8h_html_ab3436168e27946669bbd4c76e4c4007e"><div class="ttname"><a href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a></div><div class="ttdeci">#define UASSERT(condition)</div><div class="ttdef"><b>Definition</b> <a href="ULogger_8h_source.html#l00066">ULogger.h:66</a></div></div>
<div class="ttc" id="aUMath_8h_html"><div class="ttname"><a href="UMath_8h.html">UMath.h</a></div><div class="ttdoc">Basic mathematics functions.</div></div>
<div class="ttc" id="aUMath_8h_html_abc9c1a676bf1b33a7d2bc0452a04fed3"><div class="ttname"><a href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a></div><div class="ttdeci">bool uIsFinite(const T &amp;value)</div><div class="ttdef"><b>Definition</b> <a href="UMath_8h_source.html#l00053">UMath.h:53</a></div></div>
<div class="ttc" id="aclassUEvent_html"><div class="ttname"><a href="classUEvent.html">UEvent</a></div><div class="ttdef"><b>Definition</b> <a href="UEvent_8h_source.html#l00057">UEvent.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html">rtabmap::OdometryEvent</a></div><div class="ttdoc">One processed frame with the pose the odometry integrated for it.</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00056">OdometryEvent.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_a0667339a1f0135ac2b67180b663a028f"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#a0667339a1f0135ac2b67180b663a028f">rtabmap::OdometryEvent::OdometryEvent</a></div><div class="ttdeci">OdometryEvent(const SensorData &amp;data, const Transform &amp;pose, const OdometryInfo &amp;info=OdometryInfo())</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00073">OdometryEvent.h:73</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_a13be8ff5e398f9fd00d09aac8deddaba"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#a13be8ff5e398f9fd00d09aac8deddaba">rtabmap::OdometryEvent::covariance</a></div><div class="ttdeci">const cv::Mat &amp; covariance() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00103">OdometryEvent.h:103</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_a19edd3196a5723053ba425186b1f3d33"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33">rtabmap::OdometryEvent::data</a></div><div class="ttdeci">SensorData &amp; data()</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00097">OdometryEvent.h:97</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_a461365124cbdf488d3a05874be8c4bb2"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#a461365124cbdf488d3a05874be8c4bb2">rtabmap::OdometryEvent::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00094">OdometryEvent.h:94</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_a9d20ed607b8cc697c8aa5ca725e477a5"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5">rtabmap::OdometryEvent::info</a></div><div class="ttdeci">const OdometryInfo &amp; info() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00126">OdometryEvent.h:126</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_aaf1fc834b6016a79b28883d20f336020"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#aaf1fc834b6016a79b28883d20f336020">rtabmap::OdometryEvent::OdometryEvent</a></div><div class="ttdeci">OdometryEvent()</div><div class="ttdoc">Creates an empty event, with an identity covariance.</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00060">OdometryEvent.h:60</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_ac29fe21e2ba017148dae0dfd9d8c028c"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#ac29fe21e2ba017148dae0dfd9d8c028c">rtabmap::OdometryEvent::data</a></div><div class="ttdeci">const SensorData &amp; data() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00099">OdometryEvent.h:99</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_ac7aaf59c0f005b6ac1497c870179fd25"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25">rtabmap::OdometryEvent::pose</a></div><div class="ttdeci">const Transform &amp; pose() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00101">OdometryEvent.h:101</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_adbac8609d65d32f38d1e724007091398"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">rtabmap::OdometryEvent::velocity</a></div><div class="ttdeci">std::vector&lt; float &gt; velocity() const</div><div class="ttdoc">Linear and angular velocity, from the motion and the frame interval.</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00109">OdometryEvent.h:109</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a15a03ce5044cf0c6af77085777c4df7a"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">rtabmap::OdometryInfo::reg</a></div><div class="ttdeci">RegistrationInfo reg</div><div class="ttdoc">Registration result: matches, inliers, covariance, ICP indicators and timings.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00077">OdometryInfo.h:77</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a2c12cf07f29ecbafe6eacfd2e987adb6"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">rtabmap::OdometryInfo::interval</a></div><div class="ttdeci">double interval</div><div class="ttdoc">Time since the previous processed frame (s); the divisor for velocities.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00095">OdometryInfo.h:95</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_ad4f09afa610091012c2edd7708d722c5"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">rtabmap::OdometryInfo::transform</a></div><div class="ttdeci">Transform transform</div><div class="ttdoc">Motion since the previous frame, null when lost.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00096">OdometryInfo.h:96</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryResetEvent_html"><div class="ttname"><a href="classrtabmap_1_1OdometryResetEvent.html">rtabmap::OdometryResetEvent</a></div><div class="ttdoc">Asks OdometryThread to restart the odometry from a given pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00144">OdometryEvent.h:145</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryResetEvent_html_a035eee412d9bda7da321523baff799f3"><div class="ttname"><a href="classrtabmap_1_1OdometryResetEvent.html#a035eee412d9bda7da321523baff799f3">rtabmap::OdometryResetEvent::OdometryResetEvent</a></div><div class="ttdeci">OdometryResetEvent(const Transform &amp;pose=Transform::getIdentity())</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00148">OdometryEvent.h:148</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryResetEvent_html_a94dc8e8b7ec952c0ca2b393cc0f3e71d"><div class="ttname"><a href="classrtabmap_1_1OdometryResetEvent.html#a94dc8e8b7ec952c0ca2b393cc0f3e71d">rtabmap::OdometryResetEvent::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00150">OdometryEvent.h:150</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryResetEvent_html_ae756dea7a2e79fd918dd4c158085bc68"><div class="ttname"><a href="classrtabmap_1_1OdometryResetEvent.html#ae756dea7a2e79fd918dd4c158085bc68">rtabmap::OdometryResetEvent::getPose</a></div><div class="ttdeci">const Transform &amp; getPose() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00152">OdometryEvent.h:152</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a347f413d8a96dea23c4fdc6af2a1ddb5"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">rtabmap::RegistrationInfo::covariance</a></div><div class="ttdeci">cv::Mat covariance</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00095">RegistrationInfo.h:95</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="aclassrtabmap_1_1Transform_html_a8ea4368f2018d751d2733038081d56a2"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">rtabmap::Transform::getIdentity</a></div><div class="ttdeci">static Transform getIdentity()</div><div class="ttdoc">Returns identity transform.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html_aad65adff491fd57a31dbe4e26d7f29af"><div class="ttname"><a href="classrtabmap_1_1Transform.html#aad65adff491fd57a31dbe4e26d7f29af">rtabmap::Transform::getTranslationAndEulerAngles</a></div><div class="ttdeci">void getTranslationAndEulerAngles(float &amp;x, float &amp;y, float &amp;z, float &amp;roll, float &amp;pitch, float &amp;yaw) const</div><div class="ttdoc">Extracts translation and Euler angles (radians).</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#l00042">BayesFilter.h:42</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
<ul>
<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li><li class="navelem"><b>OdometryEvent.h</b></li>
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
</ul>
</div>
</body>
</html>