#include <RtabmapThread.h>

Inheritance diagram for rtabmap::RtabmapThread:

[legend]

Public Types
enum	State { kStateInit, kStateDetecting, kStateReseting, kStateClose, kStateChangingParameters, kStateDumpingMemory, kStateDumpingPrediction, kStateExportingDOTGraph, kStateExportingPoses, kStateCleanDataBuffer, kStatePublishingMap, kStateTriggeringMap, kStateSettingGoal, kStateCancellingGoal, kStateLabelling }

Public Types inherited from UThread
enum	Priority { kPLow, kPBelowNormal, kPNormal, kPAboveNormal, kPRealTime }

Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE	Handle

typedef THREAD_HANDLE	Handle

typedef void(*	Handler) ()

typedef void(*	Handler) ()

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 ()

Public Member Functions inherited from UThread
Handle	getThreadHandle () const

unsigned long	getThreadId () const

bool	isCreating () const

bool	isIdle () const

bool	isKilled () const

bool	isRunning () const

void	join (bool killFirst=false)

void	kill ()

void	setAffinity (int cpu=0)

void	setPriority (Priority priority)

void	start ()

	UThread (Priority priority=kPNormal)

virtual	~UThread ()

Public Member Functions inherited from UThreadC< void >
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

virtual	~UThreadC ()

virtual	~UThreadC ()

Public Member Functions inherited from UEventsHandler
void	registerToEventsManager ()

void	unregisterFromEventsManager ()

Public Member Functions inherited from UEventsSender
	UEventsSender ()

virtual	~UEventsSender ()

Protected Member Functions
virtual bool	handleEvent (UEvent *anEvent)

Protected Member Functions inherited from UThreadC< void >
	UThreadC ()

	UThreadC ()

Protected Member Functions inherited from UEventsHandler
	UEventsHandler ()

virtual	~UEventsHandler ()

Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const

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_

Additional Inherited Members
Static Public Member Functions inherited from UThread
static unsigned long	currentThreadId ()

Static Public Member Functions inherited from UThreadC< void >
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)

static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)

static int	Detach (Handle H)

static int	Detach (const Handle &H)

static int	Join (const Handle &H)

static int	Join (Handle H)

static int	Kill (Handle H)

static int	Kill (const Handle &H)

Static Protected Member Functions inherited from UThreadC< void >
static void	Exit ()

static void	Exit ()

static Handle	Self ()

static int	Self ()

static void	TestCancel ()

static void	TestCancel ()

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

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 )

protectedvirtual

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 ( )

privatevirtual

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 ( )

privatevirtual

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 ( )

privatevirtual

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.

void rtabmap::RtabmapThread::publishMap	(	bool	optimized,
		bool	full,
		bool	graphOnly
	)		const

private

Definition at line 129 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::pushNewState	(	State	newState,
		const ParametersMap &	parameters = `ParametersMap()`
	)

private

Definition at line 69 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::setDataBufferSize ( unsigned int bufferSize )

Definition at line 108 of file RtabmapThread.cpp.

void rtabmap::RtabmapThread::setDetectorRate ( float rate )

Definition at line 102 of file RtabmapThread.cpp.

Member Data Documentation

bool rtabmap::RtabmapThread::_createIntermediateNodes

private

Definition at line 121 of file RtabmapThread.h.

USemaphore rtabmap::RtabmapThread::_dataAdded

private

Definition at line 118 of file RtabmapThread.h.

std::list<OdometryEvent> rtabmap::RtabmapThread::_dataBuffer

private

Definition at line 115 of file RtabmapThread.h.

unsigned int rtabmap::RtabmapThread::_dataBufferMaxSize

private

Definition at line 119 of file RtabmapThread.h.

UMutex rtabmap::RtabmapThread::_dataMutex

private

Definition at line 117 of file RtabmapThread.h.

UTimer* rtabmap::RtabmapThread::_frameRateTimer

private

Definition at line 122 of file RtabmapThread.h.

std::list<double> rtabmap::RtabmapThread::_newMapEvents

private

Definition at line 116 of file RtabmapThread.h.

bool rtabmap::RtabmapThread::_paused

private

Definition at line 126 of file RtabmapThread.h.

double rtabmap::RtabmapThread::_previousStamp

private

Definition at line 123 of file RtabmapThread.h.

float rtabmap::RtabmapThread::_rate

private

Definition at line 120 of file RtabmapThread.h.

Rtabmap* rtabmap::RtabmapThread::_rtabmap

private

Definition at line 125 of file RtabmapThread.h.

std::queue<State> rtabmap::RtabmapThread::_state

private

Definition at line 112 of file RtabmapThread.h.

UMutex rtabmap::RtabmapThread::_stateMutex

private

Definition at line 111 of file RtabmapThread.h.

std::queue<ParametersMap> rtabmap::RtabmapThread::_stateParam

private

Definition at line 113 of file RtabmapThread.h.

cv::Mat rtabmap::RtabmapThread::_userData

private

Definition at line 130 of file RtabmapThread.h.

UMutex rtabmap::RtabmapThread::_userDataMutex

private

Definition at line 131 of file RtabmapThread.h.

cv::Mat rtabmap::RtabmapThread::covariance_

private

Definition at line 128 of file RtabmapThread.h.

Transform rtabmap::RtabmapThread::lastPose_

private

Definition at line 127 of file RtabmapThread.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation