rtabmap::IMUThread Class Reference

#include <IMUThread.h>

Inheritance diagram for rtabmap::IMUThread:

Public Member Functions
void	disableIMUFiltering ()
void	enableIMUFiltering (int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
	IMUThread (int rate, const Transform &localTransform)
bool	init (const std::string &path)
void	setRate (int rate)
virtual	~IMUThread ()
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 UEventsSender
	UEventsSender ()
virtual	~UEventsSender ()

Private Member Functions
virtual void	mainLoop ()
virtual void	mainLoopBegin ()

Private Attributes
bool	_imuBaseFrameConversion
IMUFilter *	_imuFilter
double	captureDelay_
UTimer	frameRateTimer_
std::ifstream	imuFile_
Transform	localTransform_
double	previousStamp_
int	rate_

Additional Inherited Members
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) ()
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 (const Handle &H)
static int	Detach (Handle H)
static int	Join (const Handle &H)
static int	Join (Handle H)
static int	Kill (const Handle &H)
static int	Kill (Handle H)
Protected Member Functions inherited from UThreadC< void >
	UThreadC ()
	UThreadC ()
Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const
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

Class IMUThread

Definition at line 49 of file IMUThread.h.

Constructor & Destructor Documentation

IMUThread()

rtabmap::IMUThread::IMUThread	(	int	rate,
		const Transform &	localTransform
	)

Definition at line 38 of file IMUThread.cpp.

~IMUThread()

rtabmap::IMUThread::~IMUThread ( )

virtual

Definition at line 48 of file IMUThread.cpp.

Member Function Documentation

disableIMUFiltering()

void rtabmap::IMUThread::disableIMUFiltering

(

)

Definition at line 95 of file IMUThread.cpp.

enableIMUFiltering()

void rtabmap::IMUThread::enableIMUFiltering	(	int	filteringStrategy = 1,
		const ParametersMap &	parameters = ParametersMap(),
		bool	baseFrameConversion = false
	)

Definition at line 88 of file IMUThread.cpp.

init()

bool rtabmap::IMUThread::init

(

const std::string &

path

)

Definition at line 54 of file IMUThread.cpp.

mainLoop()

void rtabmap::IMUThread::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 107 of file IMUThread.cpp.

mainLoopBegin()

void rtabmap::IMUThread::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 101 of file IMUThread.cpp.

setRate()

void rtabmap::IMUThread::setRate

(

int

rate

)

Definition at line 83 of file IMUThread.cpp.

Member Data Documentation

_imuBaseFrameConversion

bool rtabmap::IMUThread::_imuBaseFrameConversion

private

Definition at line 74 of file IMUThread.h.

_imuFilter

IMUFilter* rtabmap::IMUThread::_imuFilter

private

Definition at line 73 of file IMUThread.h.

captureDelay_

double rtabmap::IMUThread::captureDelay_

private

Definition at line 71 of file IMUThread.h.

frameRateTimer_

UTimer rtabmap::IMUThread::frameRateTimer_

private

Definition at line 70 of file IMUThread.h.

imuFile_

std::ifstream rtabmap::IMUThread::imuFile_

private

Definition at line 69 of file IMUThread.h.

localTransform_

Transform rtabmap::IMUThread::localTransform_

private

Definition at line 68 of file IMUThread.h.

previousStamp_

double rtabmap::IMUThread::previousStamp_

private

Definition at line 72 of file IMUThread.h.

rate_

int rtabmap::IMUThread::rate_

private

Definition at line 67 of file IMUThread.h.

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

• IMUThread.h
• IMUThread.cpp