#include <DBDriver.h>

Inheritance diagram for rtabmap::DBDriver:

Public Member Functions
void	addLink (const Link &link)
void	addStatisticsAfterRun (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap &parameters) const
void	asyncSave (Signature *s)
void	asyncSave (VisualWord *vw)
void	beginTransaction () const
void	closeConnection (bool save=true)
void	commit () const
void	emptyTrashes (bool async=false)
void	executeNoResult (const std::string &sql) const
void	generateGraph (const std::string &fileName, const std::set< int > &ids=std::set< int >(), const std::map< int, Signature * > &otherSignatures=std::map< int, Signature * >())
void	getAllLabels (std::map< int, std::string > &labels) const
void	getAllLinks (std::multimap< int, Link > &links, bool ignoreNullLinks=true) const
void	getAllNodeIds (std::set< int > &ids, bool ignoreChildren=false, bool ignoreBadSignatures=false) const
bool	getCalibration (int signatureId, std::vector< CameraModel > &models, StereoCameraModel &stereoModel) const
std::string	getDatabaseVersion () const
long	getDepthImagesMemoryUsed () const
double	getEmptyTrashesTime () const
long	getImagesMemoryUsed () const
void	getInvertedIndexNi (int signatureId, int &ni) const
long	getLaserScansMemoryUsed () const
int	getLastDictionarySize () const
void	getLastNodeId (int &id) const
int	getLastNodesSize () const
ParametersMap	getLastParameters () const
void	getLastWordId (int &id) const
long	getMemoryUsed () const
void	getNodeData (int signatureId, SensorData &data) const
void	getNodeIdByLabel (const std::string &label, int &id) const
bool	getNodeInfo (int signatureId, Transform &pose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruthPose) const
int	getTotalDictionarySize () const
int	getTotalNodesSize () const
const std::string &	getUrl () const
long	getUserDataMemoryUsed () const
void	getWeight (int signatureId, int &weight) const
long	getWordsMemoryUsed () const
bool	isConnected () const
void	load (VWDictionary *dictionary) const
void	loadLastNodes (std::list< Signature * > &signatures) const
void	loadLinks (int signatureId, std::map< int, Link > &links, Link::Type type=Link::kUndef) const
void	loadNodeData (std::list< Signature * > &signatures) const
void	loadSignatures (const std::list< int > &ids, std::list< Signature * > &signatures, std::set< int > *loadedFromTrash=0)
void	loadWords (const std::set< int > &wordIds, std::list< VisualWord * > &vws)
bool	openConnection (const std::string &url, bool overwritten=false)
virtual void	parseParameters (const ParametersMap &parameters)
void	removeLink (int from, int to)
void	setTimestampUpdateEnabled (bool enabled)
void	updateLink (const Link &link)
virtual	~DBDriver ()
Static Public Member Functions
static DBDriver *	create (const ParametersMap &parameters=ParametersMap())
Protected Member Functions
	DBDriver (const ParametersMap &parameters=ParametersMap())
Private Member Functions
virtual void	addLinkQuery (const Link &link) const =0
virtual bool	connectDatabaseQuery (const std::string &url, bool overwritten=false)=0
virtual void	disconnectDatabaseQuery (bool save=true)=0
virtual void	executeNoResultQuery (const std::string &sql) const =0
virtual void	getAllLabelsQuery (std::map< int, std::string > &labels) const =0
virtual void	getAllLinksQuery (std::multimap< int, Link > &links, bool ignoreNullLinks) const =0
virtual void	getAllNodeIdsQuery (std::set< int > &ids, bool ignoreChildren, bool ignoreBadSignatures) const =0
virtual bool	getCalibrationQuery (int signatureId, std::vector< CameraModel > &models, StereoCameraModel &stereoModel) const =0
virtual bool	getDatabaseVersionQuery (std::string &version) const =0
virtual long	getDepthImagesMemoryUsedQuery () const =0
virtual long	getImagesMemoryUsedQuery () const =0
virtual void	getInvertedIndexNiQuery (int signatureId, int &ni) const =0
virtual long	getLaserScansMemoryUsedQuery () const =0
virtual int	getLastDictionarySizeQuery () const =0
virtual void	getLastIdQuery (const std::string &tableName, int &id) const =0
virtual int	getLastNodesSizeQuery () const =0
virtual ParametersMap	getLastParametersQuery () const =0
virtual long	getMemoryUsedQuery () const =0
virtual void	getNodeIdByLabelQuery (const std::string &label, int &id) const =0
virtual bool	getNodeInfoQuery (int signatureId, Transform &pose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruthPose) const =0
virtual int	getTotalDictionarySizeQuery () const =0
virtual int	getTotalNodesSizeQuery () const =0
virtual long	getUserDataMemoryUsedQuery () const =0
virtual void	getWeightQuery (int signatureId, int &weight) const =0
virtual long	getWordsMemoryUsedQuery () const =0
virtual bool	isConnectedQuery () const =0
virtual void	loadLastNodesQuery (std::list< Signature * > &signatures) const =0
virtual void	loadLinksQuery (int signatureId, std::map< int, Link > &links, Link::Type type=Link::kUndef) const =0
virtual void	loadNodeDataQuery (std::list< Signature * > &signatures) const =0
virtual void	loadQuery (VWDictionary *dictionary) const =0
virtual void	loadSignaturesQuery (const std::list< int > &ids, std::list< Signature * > &signatures) const =0
virtual void	loadWordsQuery (const std::set< int > &wordIds, std::list< VisualWord * > &vws) const =0
virtual void	mainLoop ()
void	saveOrUpdate (const std::vector< Signature * > &signatures) const
void	saveOrUpdate (const std::vector< VisualWord * > &words) const
virtual void	saveQuery (const std::list< Signature * > &signatures) const =0
virtual void	saveQuery (const std::list< VisualWord * > &words) const =0
virtual void	updateLinkQuery (const Link &link) const =0
virtual void	updateQuery (const std::list< Signature * > &signatures, bool updateTimestamp) const =0
virtual void	updateQuery (const std::list< VisualWord * > &words, bool updateTimestamp) const =0
Private Attributes
USemaphore	_addSem
UMutex	_dbSafeAccessMutex
double	_emptyTrashesTime
bool	_timestampUpdate
UMutex	_transactionMutex
UMutex	_trashesMutex
std::map< int, Signature * >	_trashSignatures
std::map< int, VisualWord * >	_trashVisualWords
std::string	_url

Detailed Description

Definition at line 61 of file DBDriver.h.

Constructor & Destructor Documentation

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

Definition at line 54 of file DBDriver.cpp.

rtabmap::DBDriver::DBDriver ( const ParametersMap & parameters = ParametersMap() ) [protected]

Definition at line 47 of file DBDriver.cpp.

Member Function Documentation

void rtabmap::DBDriver::addLink ( const Link & link )

Definition at line 392 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::addLinkQuery ( const Link & link ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::addStatisticsAfterRun	(	int	stMemSize,
		int	lastSignAdded,
		int	processMemUsed,
		int	databaseMemUsed,
		int	dictionarySize,
		const ParametersMap &	parameters
	)		const

Definition at line 845 of file DBDriver.cpp.

void rtabmap::DBDriver::asyncSave ( Signature * s )

Definition at line 307 of file DBDriver.cpp.

void rtabmap::DBDriver::asyncSave ( VisualWord * vw )

Definition at line 320 of file DBDriver.cpp.

void rtabmap::DBDriver::beginTransaction ( ) const

Definition at line 215 of file DBDriver.cpp.

void rtabmap::DBDriver::closeConnection ( bool save = true )

Definition at line 64 of file DBDriver.cpp.

void rtabmap::DBDriver::commit ( ) const

Definition at line 222 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::connectDatabaseQuery	(	const std::string &	url,
		bool	overwritten = `false`
	)		`[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

DBDriver * rtabmap::DBDriver::create ( const ParametersMap & parameters = ParametersMap() ) [static]

Definition at line 41 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::disconnectDatabaseQuery ( bool save = true ) [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::emptyTrashes ( bool async = false )

Definition at line 236 of file DBDriver.cpp.

void rtabmap::DBDriver::executeNoResult ( const std::string & sql ) const

Definition at line 229 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::executeNoResultQuery ( const std::string & sql ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::generateGraph	(	const std::string &	fileName,
		const std::set< int > &	ids = `std::set<int>()`,
		const std::map< int, Signature * > &	otherSignatures = `std::map<int, Signature *>()`
	)

Definition at line 882 of file DBDriver.cpp.

void rtabmap::DBDriver::getAllLabels ( std::map< int, std::string > & labels ) const

Definition at line 826 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getAllLabelsQuery ( std::map< int, std::string > & labels ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getAllLinks	(	std::multimap< int, Link > &	links,
		bool	ignoreNullLinks = `true`
	)		const

Definition at line 714 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getAllLinksQuery	(	std::multimap< int, Link > &	links,
		bool	ignoreNullLinks
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getAllNodeIds	(	std::set< int > &	ids,
		bool	ignoreChildren = `false`,
		bool	ignoreBadSignatures = `false`
	)		const

Definition at line 675 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getAllNodeIdsQuery	(	std::set< int > &	ids,
		bool	ignoreChildren,
		bool	ignoreBadSignatures
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

bool rtabmap::DBDriver::getCalibration	(	int	signatureId,
		std::vector< CameraModel > &	models,
		StereoCameraModel &	stereoModel
	)		const

Definition at line 567 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::getCalibrationQuery	(	int	signatureId,
		std::vector< CameraModel > &	models,
		StereoCameraModel &	stereoModel
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

std::string rtabmap::DBDriver::getDatabaseVersion ( ) const

Definition at line 200 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::getDatabaseVersionQuery ( std::string & version ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getDepthImagesMemoryUsed ( ) const

Definition at line 127 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getDepthImagesMemoryUsedQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

double rtabmap::DBDriver::getEmptyTrashesTime ( ) const [inline]

Definition at line 78 of file DBDriver.h.

long rtabmap::DBDriver::getImagesMemoryUsed ( ) const

Definition at line 119 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getImagesMemoryUsedQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getInvertedIndexNi	(	int	signatureId,
		int &	ni
	)		const

Definition at line 771 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getInvertedIndexNiQuery	(	int	signatureId,
		int &	ni
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getLaserScansMemoryUsed ( ) const

Definition at line 135 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getLaserScansMemoryUsedQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

int rtabmap::DBDriver::getLastDictionarySize ( ) const

Definition at line 167 of file DBDriver.cpp.

virtual int rtabmap::DBDriver::getLastDictionarySizeQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::getLastIdQuery	(	const std::string &	tableName,
		int &	id
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getLastNodeId ( int & id ) const

Definition at line 741 of file DBDriver.cpp.

int rtabmap::DBDriver::getLastNodesSize ( ) const

Definition at line 159 of file DBDriver.cpp.

virtual int rtabmap::DBDriver::getLastNodesSizeQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

ParametersMap rtabmap::DBDriver::getLastParameters ( ) const

Definition at line 191 of file DBDriver.cpp.

virtual ParametersMap rtabmap::DBDriver::getLastParametersQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getLastWordId ( int & id ) const

Definition at line 756 of file DBDriver.cpp.

long rtabmap::DBDriver::getMemoryUsed ( ) const

Definition at line 110 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getMemoryUsedQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getNodeData	(	int	signatureId,
		SensorData &	data
	)		const

Definition at line 537 of file DBDriver.cpp.

void rtabmap::DBDriver::getNodeIdByLabel	(	const std::string &	label,
		int &	id
	)		const

Definition at line 791 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getNodeIdByLabelQuery	(	const std::string &	label,
		int &	id
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

bool rtabmap::DBDriver::getNodeInfo	(	int	signatureId,
		Transform &	pose,
		int &	mapId,
		int &	weight,
		std::string &	label,
		double &	stamp,
		Transform &	groundTruthPose
	)		const

Definition at line 592 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::getNodeInfoQuery	(	int	signatureId,
		Transform &	pose,
		int &	mapId,
		int &	weight,
		std::string &	label,
		double &	stamp,
		Transform &	groundTruthPose
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

int rtabmap::DBDriver::getTotalDictionarySize ( ) const

Definition at line 183 of file DBDriver.cpp.

virtual int rtabmap::DBDriver::getTotalDictionarySizeQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

int rtabmap::DBDriver::getTotalNodesSize ( ) const

Definition at line 175 of file DBDriver.cpp.

virtual int rtabmap::DBDriver::getTotalNodesSizeQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

const std::string& rtabmap::DBDriver::getUrl ( ) const [inline]

Definition at line 70 of file DBDriver.h.

long rtabmap::DBDriver::getUserDataMemoryUsed ( ) const

Definition at line 143 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getUserDataMemoryUsedQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getWeight	(	int	signatureId,
		int &	weight
	)		const

Definition at line 655 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getWeightQuery	(	int	signatureId,
		int &	weight
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getWordsMemoryUsed ( ) const

Definition at line 151 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getWordsMemoryUsedQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

bool rtabmap::DBDriver::isConnected ( ) const

Definition at line 100 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::isConnectedQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::load ( VWDictionary * dictionary ) const

Definition at line 409 of file DBDriver.cpp.

void rtabmap::DBDriver::loadLastNodes ( std::list< Signature * > & signatures ) const

Definition at line 416 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadLastNodesQuery ( std::list< Signature * > & signatures ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::loadLinks	(	int	signatureId,
		std::map< int, Link > &	links,
		Link::Type	type = `Link::kUndef`
	)		const

Definition at line 625 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadLinksQuery	(	int	signatureId,
		std::map< int, Link > &	links,
		Link::Type	type = `Link::kUndef`
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::loadNodeData ( std::list< Signature * > & signatures ) const

Definition at line 517 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadNodeDataQuery ( std::list< Signature * > & signatures ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::loadQuery ( VWDictionary * dictionary ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::loadSignatures	(	const std::list< int > &	ids,
		std::list< Signature * > &	signatures,
		std::set< int > *	loadedFromTrash = `0`
	)

Definition at line 423 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadSignaturesQuery	(	const std::list< int > &	ids,
		std::list< Signature * > &	signatures
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::loadWords	(	const std::set< int > &	wordIds,
		std::list< VisualWord * > &	vws
	)

Definition at line 476 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadWordsQuery	(	const std::set< int > &	wordIds,
		std::list< VisualWord * > &	vws
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::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 209 of file DBDriver.cpp.

bool rtabmap::DBDriver::openConnection	(	const std::string &	url,
		bool	overwritten = `false`
	)

Definition at line 86 of file DBDriver.cpp.

void rtabmap::DBDriver::parseParameters ( const ParametersMap & parameters ) [virtual]

Reimplemented in rtabmap::DBDriverSqlite3.

Definition at line 60 of file DBDriver.cpp.

void rtabmap::DBDriver::removeLink	(	int	from,
		int	to
	)

Definition at line 398 of file DBDriver.cpp.

void rtabmap::DBDriver::saveOrUpdate ( const std::vector< Signature * > & signatures ) const [private]

Definition at line 332 of file DBDriver.cpp.

void rtabmap::DBDriver::saveOrUpdate ( const std::vector< VisualWord * > & words ) const [private]

Definition at line 362 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::saveQuery ( const std::list< Signature * > & signatures ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::saveQuery ( const std::list< VisualWord * > & words ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::setTimestampUpdateEnabled ( bool enabled ) [inline]

Definition at line 79 of file DBDriver.h.

void rtabmap::DBDriver::updateLink ( const Link & link )

Definition at line 402 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::updateLinkQuery ( const Link & link ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::updateQuery	(	const std::list< Signature * > &	signatures,
		bool	updateTimestamp
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::updateQuery	(	const std::list< VisualWord * > &	words,
		bool	updateTimestamp
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

Member Data Documentation

USemaphore rtabmap::DBDriver::_addSem [private]

Definition at line 198 of file DBDriver.h.

UMutex rtabmap::DBDriver::_dbSafeAccessMutex [private]

Definition at line 197 of file DBDriver.h.

double rtabmap::DBDriver::_emptyTrashesTime [private]

Definition at line 199 of file DBDriver.h.

bool rtabmap::DBDriver::_timestampUpdate [private]

Definition at line 201 of file DBDriver.h.

UMutex rtabmap::DBDriver::_transactionMutex [private]

Definition at line 193 of file DBDriver.h.

UMutex rtabmap::DBDriver::_trashesMutex [private]

Definition at line 196 of file DBDriver.h.

std::map<int, Signature *> rtabmap::DBDriver::_trashSignatures [private]

Definition at line 194 of file DBDriver.h.

std::map<int, VisualWord *> rtabmap::DBDriver::_trashVisualWords [private]

Definition at line 195 of file DBDriver.h.

std::string rtabmap::DBDriver::_url [private]

Definition at line 200 of file DBDriver.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation