00001 /* 00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke 00003 All rights reserved. 00004 00005 Redistribution and use in source and binary forms, with or without 00006 modification, are permitted provided that the following conditions are met: 00007 * Redistributions of source code must retain the above copyright 00008 notice, this list of conditions and the following disclaimer. 00009 * Redistributions in binary form must reproduce the above copyright 00010 notice, this list of conditions and the following disclaimer in the 00011 documentation and/or other materials provided with the distribution. 00012 * Neither the name of the Universite de Sherbrooke nor the 00013 names of its contributors may be used to endorse or promote products 00014 derived from this software without specific prior written permission. 00015 00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY 00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #pragma once 00029 00030 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines 00031 00032 #include <rtabmap/core/Transform.h> 00033 #include <rtabmap/utilite/UThread.h> 00034 #include <rtabmap/utilite/UEventsSender.h> 00035 #include <rtabmap/utilite/UTimer.h> 00036 00037 #include <fstream> 00038 00039 namespace rtabmap 00040 { 00041 00046 class RTABMAP_EXP IMUThread : 00047 public UThread, 00048 public UEventsSender 00049 { 00050 public: 00051 IMUThread(int rate, const Transform & localTransform); 00052 virtual ~IMUThread(); 00053 00054 bool init(const std::string & path); 00055 void setRate(int rate); 00056 00057 private: 00058 virtual void mainLoopBegin(); 00059 virtual void mainLoop(); 00060 00061 private: 00062 int rate_; 00063 Transform localTransform_; 00064 std::ifstream imuFile_; 00065 UTimer frameRateTimer_; 00066 double captureDelay_; 00067 double previousStamp_; 00068 }; 00069 00070 } // namespace rtabmap