#include <RtabmapThread.h>

Inheritance diagram for rtabmap::RtabmapThread:

Public Types
enum	State { kStateInit, kStateDetecting, kStateReseting, kStateClose, kStateChangingParameters, kStateDumpingMemory, kStateDumpingPrediction, kStateExportingDOTGraph, kStateExportingPoses, kStateCleanDataBuffer, kStatePublishingMap, kStateTriggeringMap, kStateSettingGoal, kStateCancellingGoal, kStateLabelling }
Public Member Functions
void	clearBufferedData ()
void	close (bool databaseSaved, const std::string &databasePath="")
void	createIntermediateNodes (bool enabled)
bool	getCreateIntermediateNodes () const
unsigned int	getDataBufferSize () const
float	getDetectorRate () const
	RtabmapThread (Rtabmap *rtabmap)
void	setDataBufferSize (unsigned int bufferSize)
void	setDetectorRate (float rate)
virtual	~RtabmapThread ()
Protected Member Functions
virtual bool	handleEvent (UEvent *anEvent)
Private Member Functions
void	addData (const OdometryEvent &odomEvent)
bool	getData (OdometryEvent &data)
virtual void	mainLoop ()
virtual void	mainLoopBegin ()
virtual void	mainLoopKill ()
void	process ()
void	publishMap (bool optimized, bool full, bool graphOnly) const
void	pushNewState (State newState, const ParametersMap &parameters=ParametersMap())
Private Attributes
bool	_createIntermediateNodes
USemaphore	_dataAdded
std::list< OdometryEvent >	_dataBuffer
unsigned int	_dataBufferMaxSize
UMutex	_dataMutex
UTimer *	_frameRateTimer
std::list< double >	_newMapEvents
bool	_paused
double	_previousStamp
float	_rate
Rtabmap *	_rtabmap
std::queue< State >	_state
UMutex	_stateMutex
std::queue< ParametersMap >	_stateParam
cv::Mat	_userData
UMutex	_userDataMutex
cv::Mat	covariance_
Transform	lastPose_

Detailed Description

Definition at line 51 of file RtabmapThread.h.

Member Enumeration Documentation

enum rtabmap::RtabmapThread::State

Enumerator:

kStateInit
kStateDetecting
kStateReseting
kStateClose
kStateChangingParameters
kStateDumpingMemory
kStateDumpingPrediction
kStateExportingDOTGraph
kStateExportingPoses
kStateCleanDataBuffer
kStatePublishingMap
kStateTriggeringMap
kStateSettingGoal
kStateCancellingGoal
kStateLabelling

Reimplemented from UThread.

Definition at line 56 of file RtabmapThread.h.

Constructor & Destructor Documentation

rtabmap::RtabmapThread::RtabmapThread ( Rtabmap * rtabmap )

Definition at line 46 of file RtabmapThread.cpp.

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

Definition at line 60 of file RtabmapThread.cpp.

Member Function Documentation

void rtabmap::RtabmapThread::addData ( const OdometryEvent & odomEvent ) [private]

Definition at line 555 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::clearBufferedData ( )

Definition at line 83 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::close	(	bool	databaseSaved,
		const std::string &	databasePath = `""`
	)

Close rtabmap. This will delete rtabmap object if set.

Parameters:

databaseSaved	true=database saved, false=database discarded.
databasePath	output database file name, ignored if Db/Sqlite3InMemory=false (opened database is then overwritten).

Definition at line 118 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::createIntermediateNodes ( bool enabled )

Definition at line 113 of file RtabmapThread.cpp.

bool rtabmap::RtabmapThread::getCreateIntermediateNodes ( ) const [inline]

Definition at line 86 of file RtabmapThread.h.

bool rtabmap::RtabmapThread::getData ( OdometryEvent & data ) [private]

Definition at line 649 of file RtabmapThread.cpp.

unsigned int rtabmap::RtabmapThread::getDataBufferSize ( ) const [inline]

Definition at line 85 of file RtabmapThread.h.

float rtabmap::RtabmapThread::getDetectorRate ( ) const [inline]

Definition at line 84 of file RtabmapThread.h.

bool rtabmap::RtabmapThread::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 316 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::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 187 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::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 170 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::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 180 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::process ( ) [private]

Definition at line 526 of file RtabmapThread.cpp.