#include <OdometryThread.h>

Inheritance diagram for rtabmap::OdometryThread:

[legend]

Public Member Functions
	OdometryThread (Odometry *odometry, unsigned int dataBufferMaxSize=1)

virtual	~OdometryThread ()

Public Member Functions inherited from UThread
Handle	getThreadHandle () const

unsigned long	getThreadId () const

bool	isCreating () const

bool	isIdle () const

bool	isKilled () const

bool	isRunning () const

void	join (bool killFirst=false)

void	kill ()

void	setAffinity (int cpu=0)

void	setPriority (Priority priority)

void	start ()

	UThread (Priority priority=kPNormal)

virtual	~UThread ()

Public Member Functions inherited from UThreadC< void >
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

virtual	~UThreadC ()

virtual	~UThreadC ()

Public Member Functions inherited from UEventsHandler
void	registerToEventsManager ()

void	unregisterFromEventsManager ()

Public Member Functions inherited from UEventsSender
	UEventsSender ()

virtual	~UEventsSender ()

Protected Member Functions
virtual bool	handleEvent (UEvent *event)

Protected Member Functions inherited from UThreadC< void >
	UThreadC ()

	UThreadC ()

Protected Member Functions inherited from UEventsHandler
	UEventsHandler ()

virtual	~UEventsHandler ()

Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const

Private Member Functions
void	addData (const SensorData &data)

bool	getData (SensorData &data)

virtual void	mainLoop ()

virtual void	mainLoopBegin ()

virtual void	mainLoopKill ()

Private Attributes
USemaphore	_dataAdded

std::list< SensorData >	_dataBuffer

unsigned int	_dataBufferMaxSize

UMutex	_dataMutex

std::list< SensorData >	_imuBuffer

double	_imuEstimatedDelay

double	_lastImuStamp

Odometry *	_odometry

bool	_resetOdometry

Transform	_resetPose

Additional Inherited Members
Public Types inherited from UThread
enum	Priority { kPLow, kPBelowNormal, kPNormal, kPAboveNormal, kPRealTime }

Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE	Handle

typedef THREAD_HANDLE	Handle

typedef void(*	Handler) ()

typedef void(*	Handler) ()

Static Public Member Functions inherited from UThread
static unsigned long	currentThreadId ()

Static Public Member Functions inherited from UThreadC< void >
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)

static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)

static int	Detach (Handle H)

static int	Detach (const Handle &H)

static int	Join (const Handle &H)

static int	Join (Handle H)

static int	Kill (Handle H)

static int	Kill (const Handle &H)

Static Protected Member Functions inherited from UThreadC< void >
static void	Exit ()

static void	Exit ()

static Handle	Self ()

static int	Self ()

static void	TestCancel ()

static void	TestCancel ()

Detailed Description

Definition at line 41 of file OdometryThread.h.

Constructor & Destructor Documentation

◆ OdometryThread()

rtabmap::OdometryThread::OdometryThread	(	Odometry *	odometry,
		unsigned int	dataBufferMaxSize = `1`
	)

Definition at line 38 of file OdometryThread.cpp.

◆ ~OdometryThread()

rtabmap::OdometryThread::~OdometryThread ( )

virtual

Definition at line 49 of file OdometryThread.cpp.

Member Function Documentation

◆ addData()

void rtabmap::OdometryThread::addData ( const SensorData & data )

private

Definition at line 131 of file OdometryThread.cpp.

◆ getData()

bool rtabmap::OdometryThread::getData ( SensorData & data )

private

Definition at line 186 of file OdometryThread.cpp.

◆ handleEvent()

bool rtabmap::OdometryThread::handleEvent ( UEvent * event )

protectedvirtual

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.

Returns: "true" to notify UEventsManager that this handler took ownership of the event (meaning it must delete it). The event will not be dispatched to next handlers.; "false" to let event be dispatched to next handlers (default behavior). UEventsManager will take care of deleting the event.

Implements UEventsHandler.

Definition at line 57 of file OdometryThread.cpp.

◆ mainLoop()

void rtabmap::OdometryThread::mainLoop ( )

privatevirtual

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 104 of file OdometryThread.cpp.

◆ mainLoopBegin()

void rtabmap::OdometryThread::mainLoopBegin ( )

privatevirtual

Virtual method mainLoopBegin(). User can implement this function to add a behavior before the main loop is started. It is called once (before entering mainLoop()).

Reimplemented from UThread.

Definition at line 91 of file OdometryThread.cpp.

◆ mainLoopKill()

void rtabmap::OdometryThread::mainLoopKill ( )

privatevirtual

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 96 of file OdometryThread.cpp.

Member Data Documentation

◆ _dataAdded

USemaphore rtabmap::OdometryThread::_dataAdded

private

Definition at line 62 of file OdometryThread.h.

◆ _dataBuffer

std::list<SensorData> rtabmap::OdometryThread::_dataBuffer

private

Definition at line 64 of file OdometryThread.h.

◆ _dataBufferMaxSize

unsigned int rtabmap::OdometryThread::_dataBufferMaxSize

private

Definition at line 67 of file OdometryThread.h.

◆ _dataMutex

UMutex rtabmap::OdometryThread::_dataMutex

private

Definition at line 63 of file OdometryThread.h.

◆ _imuBuffer

std::list<SensorData> rtabmap::OdometryThread::_imuBuffer

private

Definition at line 65 of file OdometryThread.h.

◆ _imuEstimatedDelay

double rtabmap::OdometryThread::_imuEstimatedDelay

private

Definition at line 71 of file OdometryThread.h.

◆ _lastImuStamp

double rtabmap::OdometryThread::_lastImuStamp

private

Definition at line 70 of file OdometryThread.h.

◆ _odometry

Odometry* rtabmap::OdometryThread::_odometry

private

Definition at line 66 of file OdometryThread.h.

◆ _resetOdometry

bool rtabmap::OdometryThread::_resetOdometry

private

Definition at line 68 of file OdometryThread.h.

◆ _resetPose

Transform rtabmap::OdometryThread::_resetPose

private

Definition at line 69 of file OdometryThread.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OdometryThread()

◆ ~OdometryThread()

Member Function Documentation

◆ addData()

◆ getData()

◆ handleEvent()

◆ mainLoop()

◆ mainLoopBegin()

◆ mainLoopKill()

Member Data Documentation

◆ _dataAdded

◆ _dataBuffer

◆ _dataBufferMaxSize

◆ _dataMutex

◆ _imuBuffer

◆ _imuEstimatedDelay

◆ _lastImuStamp

◆ _odometry

◆ _resetOdometry

◆ _resetPose