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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "classrtabmap_1_1IMUThread-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::IMUThread Class Reference</ div ></ div >
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< p > Background thread that replays < a class = "el" href = "classrtabmap_1_1IMU.html" title = "Inertial measurement sample (ROS sensor_msgs/Imu-like fields)." > IMU</ a > measurements from a CSV file.
< a href = "classrtabmap_1_1IMUThread.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "IMUThread_8h_source.html" > IMUThread.h</ a > > </ code ></ p >
< div class = "dynheader" >
Inheritance diagram for rtabmap::IMUThread:</ div >
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< div class = "center" >< img src = "classrtabmap_1_1IMUThread__inherit__graph.png" border = "0" usemap = "#artabmap_1_1IMUThread_inherit__map" alt = "Inheritance graph" /></ div >
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< center >< span class = "legend" > [< a target = "top" href = "graph_legend.html" > legend</ a > ]</ span ></ center ></ div >
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Collaboration diagram for rtabmap::IMUThread:</ div >
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< div class = "center" >< img src = "classrtabmap_1_1IMUThread__coll__graph.png" border = "0" usemap = "#artabmap_1_1IMUThread_coll__map" alt = "Collaboration graph" /></ div >
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< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a97a2c48c6bb7e29ae64147fc9f032ac3" id = "r_a97a2c48c6bb7e29ae64147fc9f032ac3" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1IMUThread.html#a97a2c48c6bb7e29ae64147fc9f032ac3" > IMUThread</ a > (int rate, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform)</ td ></ tr >
< tr class = "memdesc:a97a2c48c6bb7e29ae64147fc9f032ac3" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructs the replay thread. < br /></ td ></ tr >
< tr class = "separator:a97a2c48c6bb7e29ae64147fc9f032ac3" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aeed84fd5d571a5e9af54c8c3ea16ef9d" id = "r_aeed84fd5d571a5e9af54c8c3ea16ef9d" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1IMUThread.html#aeed84fd5d571a5e9af54c8c3ea16ef9d" > init</ a > (const std::string & path)</ td ></ tr >
< tr class = "memdesc:aeed84fd5d571a5e9af54c8c3ea16ef9d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Opens and validates an < a class = "el" href = "classrtabmap_1_1IMU.html" title = "Inertial measurement sample (ROS sensor_msgs/Imu-like fields)." > IMU</ a > CSV file. < br /></ td ></ tr >
< tr class = "separator:aeed84fd5d571a5e9af54c8c3ea16ef9d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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void  </ td >< td class = "memItemRight" valign = "bottom" >< b > setRate</ b > (int rate)</ td ></ tr >
< tr class = "memdesc:a3b646ffce1964e2ab6bc314dc4b27deb" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sets the target playback rate in Hz. < br /></ td ></ tr >
< tr class = "separator:a3b646ffce1964e2ab6bc314dc4b27deb" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ad7e54aa5d2c6a9354e38bda9f01c89ab" id = "r_ad7e54aa5d2c6a9354e38bda9f01c89ab" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1IMUThread.html#ad7e54aa5d2c6a9354e38bda9f01c89ab" > enableIMUFiltering</ a > (int filteringStrategy=1, const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > (), bool baseFrameConversion=false)</ td ></ tr >
< tr class = "memdesc:ad7e54aa5d2c6a9354e38bda9f01c89ab" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Enables orientation fusion on replayed samples. < br /></ td ></ tr >
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void  </ td >< td class = "memItemRight" valign = "bottom" >< b > disableIMUFiltering</ b > ()</ td ></ tr >
< tr class = "memdesc:a7934573b7f4899278f1b048cf9a686bc" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Disables fusion and deletes the internal < a class = "el" href = "classrtabmap_1_1IMUFilter.html" > IMUFilter</ a > . < br /></ td ></ tr >
< tr class = "separator:a7934573b7f4899278f1b048cf9a686bc" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_methods_classUThread" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classUThread')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classUThread.html" > UThread</ a ></ td ></ tr >
< tr class = "memitem:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread" id = "r_a05a92f95e2a8900f27b09ddf907b97be" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a05a92f95e2a8900f27b09ddf907b97be" > UThread</ a > (< a class = "el" href = "classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153" > Priority</ a > priority=kPNormal)</ td ></ tr >
< tr class = "separator:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread" id = "r_a437580d224111e60cbe2626f0e4cb12e" >< td class = "memItemLeft" align = "right" valign = "top" > virtual  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a437580d224111e60cbe2626f0e4cb12e" > ~UThread</ a > ()</ td ></ tr >
< tr class = "separator:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread" id = "r_a051e9adcf24f92b9c8e31acd06bad88c" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a051e9adcf24f92b9c8e31acd06bad88c" > start</ a > ()</ td ></ tr >
< tr class = "separator:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread" id = "r_a8dfefcfd68b453da08ddba9836f35965" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a8dfefcfd68b453da08ddba9836f35965" > kill</ a > ()</ td ></ tr >
< tr class = "separator:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread" id = "r_acf33c0e4b656af76da100e7d4f69ed1d" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#acf33c0e4b656af76da100e7d4f69ed1d" > join</ a > (bool killFirst=false)</ td ></ tr >
< tr class = "separator:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a80418be3a80a01ddd05a863b58787b43 inherit pub_methods_classUThread" id = "r_a80418be3a80a01ddd05a863b58787b43" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a80418be3a80a01ddd05a863b58787b43" > setPriority</ a > (< a class = "el" href = "classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153" > Priority</ a > priority)</ td ></ tr >
< tr class = "separator:a80418be3a80a01ddd05a863b58787b43 inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aabcf31acae6ca5b8503ec320acbc11f8 inherit pub_methods_classUThread" id = "r_aabcf31acae6ca5b8503ec320acbc11f8" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#aabcf31acae6ca5b8503ec320acbc11f8" > setAffinity</ a > (int cpu=0)</ td ></ tr >
< tr class = "separator:aabcf31acae6ca5b8503ec320acbc11f8 inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac80eff7d48382fd230141ca286370d33 inherit pub_methods_classUThread" id = "r_ac80eff7d48382fd230141ca286370d33" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#ac80eff7d48382fd230141ca286370d33" > isCreating</ a > () const</ td ></ tr >
< tr class = "separator:ac80eff7d48382fd230141ca286370d33 inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a38e2b22f0616ed4128312baff9cfeba9 inherit pub_methods_classUThread" id = "r_a38e2b22f0616ed4128312baff9cfeba9" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a38e2b22f0616ed4128312baff9cfeba9" > isRunning</ a > () const</ td ></ tr >
< tr class = "separator:a38e2b22f0616ed4128312baff9cfeba9 inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a2c4554ad881c0532239a0930c2ebfe24 inherit pub_methods_classUThread" id = "r_a2c4554ad881c0532239a0930c2ebfe24" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a2c4554ad881c0532239a0930c2ebfe24" > isIdle</ a > () const</ td ></ tr >
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< tr class = "memitem:a3a0d0de0f78eab72512941ccd048477b inherit pub_methods_classUThread" id = "r_a3a0d0de0f78eab72512941ccd048477b" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a3a0d0de0f78eab72512941ccd048477b" > isKilled</ a > () const</ td ></ tr >
< tr class = "separator:a3a0d0de0f78eab72512941ccd048477b inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a4f404f03046fa89dced06514f040b2af inherit pub_methods_classUThread" id = "r_a4f404f03046fa89dced06514f040b2af" >< td class = "memItemLeft" align = "right" valign = "top" > Handle  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a4f404f03046fa89dced06514f040b2af" > getThreadHandle</ a > () const</ td ></ tr >
< tr class = "separator:a4f404f03046fa89dced06514f040b2af inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "separator:a40e8ea82c06ed20bb6266a6a42a8f51f inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_methods_classUThreadC_3_01void_01_4" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classUThreadC_3_01void_01_4')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classUThreadC_3_01void_01_4.html" > UThreadC< void > </ a ></ td ></ tr >
< tr class = "memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id = "r_a724a5919ea1f1e74b69a9073d532e400" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400" > Create</ a > (Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false) const</ td ></ tr >
< tr class = "separator:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" id = "r_a5af5c76be4b8e6b746a77146a3d7021a" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a5af5c76be4b8e6b746a77146a3d7021a" > Create</ a > (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</ td ></ tr >
< tr class = "separator:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id = "r_a724a5919ea1f1e74b69a9073d532e400" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400" > Create</ a > (Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false) const</ td ></ tr >
< tr class = "separator:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" id = "r_a5af5c76be4b8e6b746a77146a3d7021a" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a5af5c76be4b8e6b746a77146a3d7021a" > Create</ a > (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</ td ></ tr >
< tr class = "separator:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "inherited" name = "inherited" ></ a >
Additional Inherited Members</ h2 ></ td ></ tr >
< tr class = "inherit_header pub_types_classUThread" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_types_classUThread')" >< img src = "closed.png" alt = "-" />   Public Types inherited from < a class = "el" href = "classUThread.html" > UThread</ a ></ td ></ tr >
< tr class = "memitem:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread" id = "r_a731ef4dd5a8d15abcc06e7cfa53cd153" >< td class = "memItemLeft" align = "right" valign = "top" > enum   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153" > Priority</ a > { < br />
   < b > kPLow</ b >
, < b > kPBelowNormal</ b >
, < b > kPNormal</ b >
, < b > kPAboveNormal</ b >
, < br />
   < b > kPRealTime</ b >
< br />
}</ td ></ tr >
< tr class = "separator:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_types_classUThreadC_3_01void_01_4" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_types_classUThreadC_3_01void_01_4')" >< img src = "closed.png" alt = "-" />   Public Types inherited from < a class = "el" href = "classUThreadC_3_01void_01_4.html" > UThreadC< void > </ a ></ td ></ tr >
< tr class = "memitem:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" id = "r_a0ffb19a834ba3271ed3c9f650f119664" >< td class = "memItemLeft" align = "right" valign = "top" > typedef THREAD_HANDLE  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a0ffb19a834ba3271ed3c9f650f119664" > Handle</ a ></ td ></ tr >
< tr class = "separator:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" id = "r_a14b685cdf9b6529a5e31f0f021c4cfd9" >< td class = "memItemLeft" align = "right" valign = "top" > typedef void(*  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a14b685cdf9b6529a5e31f0f021c4cfd9" > Handler</ a > ) ()</ td ></ tr >
< tr class = "separator:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" id = "r_a0ffb19a834ba3271ed3c9f650f119664" >< td class = "memItemLeft" align = "right" valign = "top" > typedef THREAD_HANDLE  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a0ffb19a834ba3271ed3c9f650f119664" > Handle</ a ></ td ></ tr >
< tr class = "separator:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" id = "r_a14b685cdf9b6529a5e31f0f021c4cfd9" >< td class = "memItemLeft" align = "right" valign = "top" > typedef void(*  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a14b685cdf9b6529a5e31f0f021c4cfd9" > Handler</ a > ) ()</ td ></ tr >
< tr class = "separator:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_static_methods_classUThread" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_static_methods_classUThread')" >< img src = "closed.png" alt = "-" />   Static Public Member Functions inherited from < a class = "el" href = "classUThread.html" > UThread</ a ></ td ></ tr >
< tr class = "memitem:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread" id = "r_a6fa5e2358a86c5185371fd14305021aa" >< td class = "memItemLeft" align = "right" valign = "top" > static unsigned long  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a6fa5e2358a86c5185371fd14305021aa" > currentThreadId</ a > ()</ td ></ tr >
< tr class = "separator:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_static_methods_classUThreadC_3_01void_01_4" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_static_methods_classUThreadC_3_01void_01_4')" >< img src = "closed.png" alt = "-" />   Static Public Member Functions inherited from < a class = "el" href = "classUThreadC_3_01void_01_4.html" > UThreadC< void > </ a ></ td ></ tr >
< tr class = "memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a17eb99ec0990246c0c7161e6bec84c74" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74" > Create</ a > (const Handler & Function, Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false)</ td ></ tr >
< tr class = "separator:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1584a3a80d86181ff66784cf0f8c2392 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a1584a3a80d86181ff66784cf0f8c2392" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a1584a3a80d86181ff66784cf0f8c2392" > Join</ a > (Handle H)</ td ></ tr >
< tr class = "separator:a1584a3a80d86181ff66784cf0f8c2392 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aec2af3352538bb8e45916c468e6960dc inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_aec2af3352538bb8e45916c468e6960dc" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#aec2af3352538bb8e45916c468e6960dc" > Kill</ a > (Handle H)</ td ></ tr >
< tr class = "separator:aec2af3352538bb8e45916c468e6960dc inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a591f5bfcea463cfaa2249bbcdd3ab522 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a591f5bfcea463cfaa2249bbcdd3ab522" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a591f5bfcea463cfaa2249bbcdd3ab522" > Detach</ a > (Handle H)</ td ></ tr >
< tr class = "separator:a591f5bfcea463cfaa2249bbcdd3ab522 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a17eb99ec0990246c0c7161e6bec84c74" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74" > Create</ a > (const Handler & Function, Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false)</ td ></ tr >
< tr class = "separator:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1d704989d9a19f552ac0387c143cad95 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a1d704989d9a19f552ac0387c143cad95" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a1d704989d9a19f552ac0387c143cad95" > Join</ a > (const Handle & H)</ td ></ tr >
< tr class = "separator:a1d704989d9a19f552ac0387c143cad95 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a4a83aaa66db8ee6f07482130091690e3" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a4a83aaa66db8ee6f07482130091690e3" > Kill</ a > (const Handle & H)</ td ></ tr >
< tr class = "separator:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a094155ec7163e19480ed2181ef8032ed" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a094155ec7163e19480ed2181ef8032ed" > Detach</ a > (const Handle & H)</ td ></ tr >
< tr class = "separator:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_methods_classUEventsSender" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_methods_classUEventsSender')" >< img src = "closed.png" alt = "-" />   Protected Member Functions inherited from < a class = "el" href = "classUEventsSender.html" > UEventsSender</ a ></ td ></ tr >
< tr class = "memitem:ab03886c42164f2f9bf89fd3da641526f inherit pro_methods_classUEventsSender" id = "r_ab03886c42164f2f9bf89fd3da641526f" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUEventsSender.html#ab03886c42164f2f9bf89fd3da641526f" > post</ a > (< a class = "el" href = "classUEvent.html" > UEvent</ a > *event, bool async=true) const</ td ></ tr >
< tr class = "separator:ab03886c42164f2f9bf89fd3da641526f inherit pro_methods_classUEventsSender" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_static_methods_classUThreadC_3_01void_01_4" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_static_methods_classUThreadC_3_01void_01_4')" >< img src = "closed.png" alt = "-" />   Static Protected Member Functions inherited from < a class = "el" href = "classUThreadC_3_01void_01_4.html" > UThreadC< void > </ a ></ td ></ tr >
< tr class = "memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_afc1715cfa1d5ae88f57ba2fe983bb9e5" >< td class = "memItemLeft" align = "right" valign = "top" > static void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5" > Exit</ a > ()</ td ></ tr >
< tr class = "separator:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_a5dc3a0223030adcc0c6e3ef829efc824" >< td class = "memItemLeft" align = "right" valign = "top" > static void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824" > TestCancel</ a > ()</ td ></ tr >
< tr class = "separator:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_a33cd70cb0291ebd0a95016e89b4d5b6c" >< td class = "memItemLeft" align = "right" valign = "top" > static Handle  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a33cd70cb0291ebd0a95016e89b4d5b6c" > Self</ a > ()</ td ></ tr >
< tr class = "separator:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_afc1715cfa1d5ae88f57ba2fe983bb9e5" >< td class = "memItemLeft" align = "right" valign = "top" > static void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5" > Exit</ a > ()</ td ></ tr >
< tr class = "separator:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_a5dc3a0223030adcc0c6e3ef829efc824" >< td class = "memItemLeft" align = "right" valign = "top" > static void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824" > TestCancel</ a > ()</ td ></ tr >
< tr class = "separator:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afed28b5b5bb00d4addbb0cd7f2ce0ce2 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_afed28b5b5bb00d4addbb0cd7f2ce0ce2" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#afed28b5b5bb00d4addbb0cd7f2ce0ce2" > Self</ a > ()</ td ></ tr >
< tr class = "separator:afed28b5b5bb00d4addbb0cd7f2ce0ce2 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Background thread that replays < a class = "el" href = "classrtabmap_1_1IMU.html" title = "Inertial measurement sample (ROS sensor_msgs/Imu-like fields)." > IMU</ a > measurements from a CSV file. </ p >
< p > Reads gyroscope and accelerometer samples from a comma-separated file (EuRoC-style or epoch timestamps), optionally fuses them with < a class = "el" href = "classrtabmap_1_1IMUFilter.html" > IMUFilter</ a > , and posts < a class = "el" href = "classrtabmap_1_1IMUEvent.html" > IMUEvent</ a > on each step.</ p >
< p > CSV format:</ p >< ul >
< li > First line: header (skipped).</ li >
< li > Following lines: < code > stamp,gx,gy,gz,ax,ay,az</ code > (stamp in seconds with a decimal point, or EuRoC nanoseconds without one).</ li >
</ ul >
< p > Playback rate is limited by < a class = "el" href = "classrtabmap_1_1IMUThread.html#a3b646ffce1964e2ab6bc314dc4b27deb" > setRate()</ a > when < code > rate > 0</ code > ; otherwise samples are read as fast as possible (or spaced using inter-sample timestamps after the first pair). When the file ends, the thread posts an empty < a class = "el" href = "classrtabmap_1_1IMUEvent.html" > IMUEvent</ a > and stops.</ p >
< dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classrtabmap_1_1IMUEvent.html" title = "UEvent carrying an IMU sample and timestamp." > IMUEvent</ a > </ dd >
< dd >
< a class = "el" href = "classrtabmap_1_1IMUFilter.html" title = "Fuses gyroscope and accelerometer samples into an orientation quaternion." > IMUFilter</ a > </ dd >
< dd >
< a class = "el" href = "classrtabmap_1_1SensorCaptureThread.html#a97ef5e49b994fcd2a3c87d6f7ef244ec" title = "Enables IMU data filtering." > SensorCaptureThread::enableIMUFiltering()</ a > </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "IMUThread_8h_source.html#l00065" > 65</ a > of file < a class = "el" href = "IMUThread_8h_source.html" > IMUThread.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Constructor & Destructor Documentation</ h2 >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a97a2c48c6bb7e29ae64147fc9f032ac3" > ◆  </ a ></ span > IMUThread()</ h2 >
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< td class = "memname" > rtabmap::IMUThread::IMUThread </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > rate</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > &  </ td >
< td class = "paramname" >< em > localTransform</ em >   </ td >
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< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > Constructs the replay thread. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > rate</ td >< td > Target playback rate in Hz (< code > 0</ code > = no rate cap until timestamps apply). </ td ></ tr >
< tr >< td class = "paramname" > localTransform</ td >< td >< a class = "el" href = "classrtabmap_1_1IMU.html" title = "Inertial measurement sample (ROS sensor_msgs/Imu-like fields)." > IMU</ a > frame relative to the robot base (stored in each < a class = "el" href = "classrtabmap_1_1IMU.html" > IMU</ a > ). </ td ></ tr >
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< h2 class = "groupheader" > Member Function Documentation</ h2 >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aeed84fd5d571a5e9af54c8c3ea16ef9d" > ◆  </ a ></ span > init()</ h2 >
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< td class = "memname" > bool rtabmap::IMUThread::init </ td >
< td > (</ td >
< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > path</ em ></ td >< td > )</ td >
< td ></ td >
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< p > Opens and validates an < a class = "el" href = "classrtabmap_1_1IMU.html" title = "Inertial measurement sample (ROS sensor_msgs/Imu-like fields)." > IMU</ a > CSV file. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
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< tr >< td class = "paramname" > path</ td >< td > Path to the CSV file. </ td ></ tr >
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< dl class = "section return" >< dt > Returns</ dt >< dd > False if the file is missing or contains no data rows. </ dd ></ dl >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ad7e54aa5d2c6a9354e38bda9f01c89ab" > ◆  </ a ></ span > enableIMUFiltering()</ h2 >
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< td class = "memname" > void rtabmap::IMUThread::enableIMUFiltering </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > filteringStrategy</ em > = < code > 1</ code > , </ td >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > &  </ td >
< td class = "paramname" >< em > parameters</ em > = < code >< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ()</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > baseFrameConversion</ em > = < code > false</ code >   </ td >
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< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > Enables orientation fusion on replayed samples. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
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< tr >< td class = "paramname" > filteringStrategy</ td >< td >< a class = "el" href = "classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83" > IMUFilter::Type</ a > index (< code > 0</ code > = Madgwick, < code > 1</ code > = complementary). </ td ></ tr >
< tr >< td class = "paramname" > parameters</ td >< td > Optional ImuFilter/... tuning parameters. </ td ></ tr >
< tr >< td class = "paramname" > baseFrameConversion</ td >< td > If true, rotate < a class = "el" href = "classrtabmap_1_1IMU.html" title = "Inertial measurement sample (ROS sensor_msgs/Imu-like fields)." > IMU</ a > vectors into the base frame before filtering. </ td ></ tr >
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< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/< a class = "el" href = "IMUThread_8h_source.html" > IMUThread.h</ a ></ li >
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