rtabmap::RtabmapThread Class Reference

#include <RtabmapThread.h>

Inheritance diagram for rtabmap::RtabmapThread:

Public Types
enum	State { kStateDetecting, kStateProcessCommand }
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 RtabmapEventCmd &cmdEvent=RtabmapEventCmd(RtabmapEventCmd::kCmdUndef))

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< RtabmapEventCmd >	_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

State

enum rtabmap::RtabmapThread::State

Enumerator
kStateDetecting
kStateProcessCommand

Definition at line 56 of file RtabmapThread.h.

Constructor & Destructor Documentation

RtabmapThread()

rtabmap::RtabmapThread::RtabmapThread

(

Rtabmap *

rtabmap

)

Definition at line 46 of file RtabmapThread.cpp.

~RtabmapThread()

rtabmap::RtabmapThread::~RtabmapThread ( )

virtual

Definition at line 60 of file RtabmapThread.cpp.

Member Function Documentation

addData()

void rtabmap::RtabmapThread::addData ( const OdometryEvent &  odomEvent )

private

Definition at line 494 of file RtabmapThread.cpp.

clearBufferedData()

void rtabmap::RtabmapThread::clearBufferedData

(

)

Definition at line 83 of file RtabmapThread.cpp.

close()

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.

createIntermediateNodes()

void rtabmap::RtabmapThread::createIntermediateNodes

(

bool

enabled

)

Definition at line 113 of file RtabmapThread.cpp.

getCreateIntermediateNodes()

bool rtabmap::RtabmapThread::getCreateIntermediateNodes ( ) const

inline

Definition at line 73 of file RtabmapThread.h.

getData()

bool rtabmap::RtabmapThread::getData ( OdometryEvent &  data )

private

Definition at line 588 of file RtabmapThread.cpp.

getDataBufferSize()

unsigned int rtabmap::RtabmapThread::getDataBufferSize ( ) const

inline

Definition at line 72 of file RtabmapThread.h.

getDetectorRate()

float rtabmap::RtabmapThread::getDetectorRate ( ) const

inline

Definition at line 71 of file RtabmapThread.h.

handleEvent()

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 365 of file RtabmapThread.cpp.

mainLoop()

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 180 of file RtabmapThread.cpp.

mainLoopBegin()

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 163 of file RtabmapThread.cpp.

mainLoopKill()

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 173 of file RtabmapThread.cpp.

process()

void rtabmap::RtabmapThread::process ( )

private

Definition at line 465 of file RtabmapThread.cpp.

publishMap()

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

private

Definition at line 129 of file RtabmapThread.cpp.

pushNewState()

void rtabmap::RtabmapThread::pushNewState ( State  newState, const RtabmapEventCmd &  cmdEvent = RtabmapEventCmd(RtabmapEventCmd::kCmdUndef)  )

private

Definition at line 69 of file RtabmapThread.cpp.

setDataBufferSize()

void rtabmap::RtabmapThread::setDataBufferSize

(

unsigned int

bufferSize

)

Definition at line 108 of file RtabmapThread.cpp.

setDetectorRate()

void rtabmap::RtabmapThread::setDetectorRate

(

float

rate

)

Definition at line 102 of file RtabmapThread.cpp.

Member Data Documentation

_createIntermediateNodes

bool rtabmap::RtabmapThread::_createIntermediateNodes

private

Definition at line 108 of file RtabmapThread.h.

_dataAdded

USemaphore rtabmap::RtabmapThread::_dataAdded

private

Definition at line 105 of file RtabmapThread.h.

_dataBuffer

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

private

Definition at line 102 of file RtabmapThread.h.

_dataBufferMaxSize

unsigned int rtabmap::RtabmapThread::_dataBufferMaxSize

private

Definition at line 106 of file RtabmapThread.h.

_dataMutex

UMutex rtabmap::RtabmapThread::_dataMutex

private

Definition at line 104 of file RtabmapThread.h.

_frameRateTimer

UTimer* rtabmap::RtabmapThread::_frameRateTimer

private

Definition at line 109 of file RtabmapThread.h.

_newMapEvents

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

private

Definition at line 103 of file RtabmapThread.h.

_paused

bool rtabmap::RtabmapThread::_paused

private

Definition at line 113 of file RtabmapThread.h.

_previousStamp

double rtabmap::RtabmapThread::_previousStamp

private

Definition at line 110 of file RtabmapThread.h.

_rate

float rtabmap::RtabmapThread::_rate

private

Definition at line 107 of file RtabmapThread.h.

_rtabmap

Rtabmap* rtabmap::RtabmapThread::_rtabmap

private

Definition at line 112 of file RtabmapThread.h.

_state

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

private

Definition at line 99 of file RtabmapThread.h.

_stateMutex

UMutex rtabmap::RtabmapThread::_stateMutex

private

Definition at line 98 of file RtabmapThread.h.

_stateParam

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

private

Definition at line 100 of file RtabmapThread.h.

_userData

cv::Mat rtabmap::RtabmapThread::_userData

private

Definition at line 117 of file RtabmapThread.h.

_userDataMutex

UMutex rtabmap::RtabmapThread::_userDataMutex

private

Definition at line 118 of file RtabmapThread.h.

covariance_

cv::Mat rtabmap::RtabmapThread::covariance_

private

Definition at line 115 of file RtabmapThread.h.

lastPose_

Transform rtabmap::RtabmapThread::lastPose_

private

Definition at line 114 of file RtabmapThread.h.

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

• RtabmapThread.h
• RtabmapThread.cpp