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Integration of the path planner into rtabmap's memory management to actually retrieve nodes on the planned path on the graph.

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Added Rtabmap::clearPath(), Rtabmap::computePath(), Rtabmap::getPathGoalId() and Rtabmap::updateGoalIndex() methods.
Added virtual links when path retrieval is activated (virtual links are not saved to database and removed when the path goal is reached).
New parameters: RGBD/GoalReachedRadius and RGBD/MaxAnticipatedNodes
Refactored how loop closure hypotheses are selected (fixed ratio between consecutive hypotheses, not the last loop closure).
Updated getNodesInRadius() to use all filtered scans.
GUI: window can be saved/loaded maximized
GUI: saving Graph View parameters to config.ini
This commit is contained in:
Mathieu Labbe
2015-01-30 15:30:57 -05:00
parent 45a5da9f16
commit a2dde36093
21 changed files with 929 additions and 310 deletions
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guilib/include/rtabmap/gui/PreferencesDialog.h
+2 -1
View File
@@ -100,7 +100,8 @@ public:
void saveWindowGeometry(const QWidget * window);
void loadWindowGeometry(QWidget * window);
void saveMainWindowState(const QMainWindow * mainWindow);
void loadMainWindowState(QMainWindow * mainWindow);
void loadMainWindowState(QMainWindow * mainWindow, bool & maximized);
void saveWidgetState(const QWidget * widget);
void loadWidgetState(QWidget * widget);