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Pose goals can be sent directly to rtabmap node, Added SetGoal service (set target node id)

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Mathieu Labbe
2015-02-06 13:56:20 -05:00
parent 19f667b3f4
commit cd4975849a
12 changed files with 181 additions and 134 deletions
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src/MapOptimizerNode.cpp
+3 -3
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@@ -212,12 +212,12 @@ public:
{
if(optimizeFromLastNode_)
{
std::map<int, int> depthGraph = rtabmap::generateDepthGraph(constraints, poses.rbegin()->first);
rtabmap::optimizeTOROGraph(depthGraph, poses, constraints, optimizedPoses, iterations_, true, ignoreVariance_);
std::map<int, int> depthGraph = rtabmap::graph::generateDepthGraph(constraints, poses.rbegin()->first);
rtabmap::graph::optimizeTOROGraph(depthGraph, poses, constraints, optimizedPoses, iterations_, true, ignoreVariance_);
}
else
{
rtabmap::optimizeTOROGraph(poses, constraints, optimizedPoses, iterations_, true, ignoreVariance_);
rtabmap::graph::optimizeTOROGraph(poses, constraints, optimizedPoses, iterations_, true, ignoreVariance_);
}
mapToOdomMutex_.lock();