Method getNodeByID

octomap/src/ScanGraph.cpp:252–257

  }

  ScanNode* ScanGraph::getNodeByID(unsigned int id) {
    for (unsigned int i = 0; i < nodes.size(); i++) {
      if (nodes[i]->id == id) return nodes[i];
    }
    return NULL;
  }

  bool ScanGraph::edgeExists(unsigned int first_id, unsigned int second_id) {