IMUThread.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #pragma once
29 
30 #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
31 
32 #include <rtabmap/core/Transform.h>
36 #include <rtabmap/utilite/UTimer.h>
37 
38 #include <fstream>
39 
40 namespace rtabmap
41 {
42 
43 class IMUFilter;
44 
49 class RTABMAP_CORE_EXPORT IMUThread :
50  public UThread,
51  public UEventsSender
52 {
53 public:
54  IMUThread(int rate, const Transform & localTransform);
55  virtual ~IMUThread();
56 
57  bool init(const std::string & path);
58  void setRate(int rate);
59  void enableIMUFiltering(int filteringStrategy=1, const ParametersMap & parameters = ParametersMap(), bool baseFrameConversion = false);
60  void disableIMUFiltering();
61 
62 private:
63  virtual void mainLoopBegin();
64  virtual void mainLoop();
65 
66 private:
67  int rate_;
69  std::ifstream imuFile_;
71  double captureDelay_;
75 };
76 
77 } // namespace rtabmap
rtabmap::IMUThread::localTransform_
Transform localTransform_
Definition: IMUThread.h:68
rtabmap::IMUThread
Definition: IMUThread.h:49
Transform.h
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
UTimer.h
rtabmap::IMUThread::previousStamp_
double previousStamp_
Definition: IMUThread.h:72
Parameters.h
rtabmap::IMUFilter
Definition: IMUFilter.h:37
rtabmap::IMUThread::rate_
int rate_
Definition: IMUThread.h:67
rtabmap::IMUThread::imuFile_
std::ifstream imuFile_
Definition: IMUThread.h:69
rtabmap::IMUThread::_imuBaseFrameConversion
bool _imuBaseFrameConversion
Definition: IMUThread.h:74
path
path
rtabmap_netvlad.init
def init(descriptorDim)
Definition: rtabmap_netvlad.py:30
rtabmap::IMUThread::captureDelay_
double captureDelay_
Definition: IMUThread.h:71
UEventsSender.h
rtabmap::Transform
Definition: Transform.h:41
UThread
Definition: UThread.h:86
UThread.h
UTimer
Definition: UTimer.h:46
rtabmap::IMUThread::frameRateTimer_
UTimer frameRateTimer_
Definition: IMUThread.h:70
rtabmap
Definition: CameraARCore.cpp:35
UEventsSender
Definition: UEventsSender.h:15
rtabmap::IMUThread::_imuFilter
IMUFilter * _imuFilter
Definition: IMUThread.h:73


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:11