#include <OdometryThread.h>

Inheritance diagram for rtabmap::OdometryThread:

Public Member Functions
	OdometryThread (Odometry *odometry, unsigned int dataBufferMaxSize=1)
virtual	~OdometryThread ()
Protected Member Functions
virtual bool	handleEvent (UEvent *event)
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

Detailed Description

Definition at line 41 of file OdometryThread.h.

Constructor & Destructor Documentation

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

Definition at line 39 of file OdometryThread.cpp.

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

Definition at line 50 of file OdometryThread.cpp.

Member Function Documentation

void rtabmap::OdometryThread::addData ( const SensorData & data ) [private]

Definition at line 128 of file OdometryThread.cpp.

bool rtabmap::OdometryThread::getData ( SensorData & data ) [private]

Definition at line 187 of file OdometryThread.cpp.

bool rtabmap::OdometryThread::handleEvent ( UEvent * event ) [protected, virtual]

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 58 of file OdometryThread.cpp.

void rtabmap::OdometryThread::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 105 of file OdometryThread.cpp.

void rtabmap::OdometryThread::mainLoopBegin ( ) [private, virtual]

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 92 of file OdometryThread.cpp.

void rtabmap::OdometryThread::mainLoopKill ( ) [private, virtual]

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 97 of file OdometryThread.cpp.