corelib
include
rtabmap
core
IMUThread.h
Go to the documentation of this file.
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include "rtabmap/core/rtabmap_core_export.h"
// DLL export/import defines
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#include <
rtabmap/core/Transform.h
>
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#include <
rtabmap/core/Parameters.h
>
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#include <
rtabmap/utilite/UThread.h
>
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#include <
rtabmap/utilite/UEventsSender.h
>
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#include <
rtabmap/utilite/UTimer.h
>
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#include <fstream>
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namespace
rtabmap
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{
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class
IMUFilter;
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class
RTABMAP_CORE_EXPORT
IMUThread
:
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public
UThread
,
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public
UEventsSender
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{
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public
:
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IMUThread
(
int
rate,
const
Transform
& localTransform);
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virtual
~
IMUThread
();
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bool
init
(
const
std::string &
path
);
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void
setRate(
int
rate);
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void
enableIMUFiltering(
int
filteringStrategy=1,
const
ParametersMap
& parameters =
ParametersMap
(),
bool
baseFrameConversion =
false
);
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void
disableIMUFiltering();
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private
:
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virtual
void
mainLoopBegin();
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virtual
void
mainLoop();
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private
:
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int
rate_
;
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Transform
localTransform_
;
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std::ifstream
imuFile_
;
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UTimer
frameRateTimer_
;
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double
captureDelay_
;
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double
previousStamp_
;
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IMUFilter
*
_imuFilter
;
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bool
_imuBaseFrameConversion
;
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};
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}
// 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