#include <RtabmapThread.h>

Inheritance diagram for rtabmap::RtabmapThread:

Public Types
enum	State { kStateInit, kStateDetecting, kStateReseting, kStateClose, kStateChangingParameters, kStateDumpingMemory, kStateDumpingPrediction, kStateGeneratingDOTGraph, kStateGeneratingDOTLocalGraph, kStateGeneratingTOROGraphLocal, kStateGeneratingTOROGraphGlobal, kStateCleanDataBuffer, kStatePublishingMapLocal, kStatePublishingMapGlobal, kStatePublishingTOROGraphLocal, kStatePublishingTOROGraphGlobal, kStateTriggeringMap, kStateAddingUserData, kStateSettingGoal }
Public Member Functions
void	clearBufferedData ()
	RtabmapThread (Rtabmap *rtabmap)
void	setBufferSize (int bufferSize)
void	setDetectorRate (float rate)
virtual	~RtabmapThread ()
Protected Member Functions
virtual void	handleEvent (UEvent *anEvent)
Private Member Functions
void	addData (const SensorData &data)
void	getData (SensorData &data)
virtual void	mainLoop ()
virtual void	mainLoopKill ()
void	process ()
void	publishMap (bool optimized, bool full) const
void	publishTOROGraph (bool optimized, bool full) const
void	pushNewState (State newState, const ParametersMap &parameters=ParametersMap())
void	setDataBufferSize (int size)
Private Attributes
USemaphore	_dataAdded
std::list< SensorData >	_dataBuffer
int	_dataBufferMaxSize
UMutex	_dataMutex
UTimer *	_frameRateTimer
bool	_paused
float	_rate
float	_rotVariance
Rtabmap *	_rtabmap
std::stack< State >	_state
UMutex	_stateMutex
std::stack< ParametersMap >	_stateParam
float	_transVariance
std::vector< unsigned char >	_userData
UMutex	_userDataMutex
Transform	lastPose_

Detailed Description

Definition at line 50 of file RtabmapThread.h.

Member Enumeration Documentation

enum rtabmap::RtabmapThread::State

Enumerator:

kStateInit
kStateDetecting
kStateReseting
kStateClose
kStateChangingParameters
kStateDumpingMemory
kStateDumpingPrediction
kStateGeneratingDOTGraph
kStateGeneratingDOTLocalGraph
kStateGeneratingTOROGraphLocal
kStateGeneratingTOROGraphGlobal
kStateCleanDataBuffer
kStatePublishingMapLocal
kStatePublishingMapGlobal
kStatePublishingTOROGraphLocal
kStatePublishingTOROGraphGlobal
kStateTriggeringMap
kStateAddingUserData
kStateSettingGoal

Reimplemented from UThread.

Definition at line 55 of file RtabmapThread.h.

Constructor & Destructor Documentation

rtabmap::RtabmapThread::RtabmapThread ( Rtabmap * rtabmap )

Definition at line 46 of file RtabmapThread.cpp.

rtabmap::RtabmapThread::~RtabmapThread ( ) [virtual]

Definition at line 60 of file RtabmapThread.cpp.

Member Function Documentation

void rtabmap::RtabmapThread::addData ( const SensorData & data ) [private]

Definition at line 511 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::clearBufferedData ( )

Definition at line 85 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::getData ( SensorData & data ) [private]

Definition at line 579 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::handleEvent ( UEvent * event ) [protected, virtual]

Method called by the UEventsManager to handle an event. Important : this method must do a minimum of work because the faster the dispatching loop is done; the faster the events are received. If a handling function takes too much time, the events list can grow faster than it is emptied. The event can be modified but must not be deleted.

Implements UEventsHandler.

Definition at line 296 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::mainLoop ( ) [private, virtual]

Pure virtual method mainLoop(). The inner loop of the thread. This method is called repetitively until the thread is killed. Note that if kill() is called in mainLoopBegin(), mainLoop() is not called, terminating immediately the thread.

See also:: mainLoop(); kill()

Implements UThread.

Definition at line 181 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::mainLoopKill ( ) [private, virtual]

Virtual method mainLoopKill(). User can implement this function to add a behavior before the thread is killed. When this function is called, the state of the thread is set to kSKilled. It is useful to wake up a sleeping thread to finish his loop and to avoid a deadlock.

Reimplemented from UThread.

Definition at line 173 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::process ( ) [private]

Definition at line 488 of file RtabmapThread.cpp.