OdometryThread.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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8  notice, this list of conditions and the following disclaimer.
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27 
28 #ifndef ODOMETRYTHREAD_H_
29 #define ODOMETRYTHREAD_H_
30 
35 #include <list>
36 
37 namespace rtabmap {
38 
39 class Odometry;
40 
42 public:
43  // take ownership of Odometry
44  OdometryThread(Odometry * odometry, unsigned int dataBufferMaxSize = 1);
45  virtual ~OdometryThread();
46 
47 protected:
48  virtual bool handleEvent(UEvent * event);
49 
50 private:
51  virtual void mainLoopBegin();
52  virtual void mainLoopKill();
53 
54  //============================================================
55  // MAIN LOOP
56  //============================================================
57  virtual void mainLoop();
58  void addData(const SensorData & data);
59  bool getData(SensorData & data);
60 
61 private:
64  std::list<SensorData> _dataBuffer;
65  std::list<SensorData> _imuBuffer;
67  unsigned int _dataBufferMaxSize;
70  double _lastImuStamp;
72 };
73 
74 } // namespace rtabmap
75 
76 
77 #endif /* ODOMETRYTHREAD_H_ */
Definition: UEvent.h:57
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
std::list< SensorData > _dataBuffer
Definition: UMutex.h:54
unsigned int _dataBufferMaxSize
std::list< SensorData > _imuBuffer


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:59