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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef RTABMAPTHREAD_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define RTABMAPTHREAD_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;rtabmap/utilite/UThreadNode.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;rtabmap/utilite/UEventsHandler.h&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;rtabmap/utilite/USemaphore.h&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;rtabmap/utilite/UMutex.h&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include &quot;rtabmap/core/RtabmapEvent.h&quot;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include &quot;rtabmap/core/SensorData.h&quot;</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include &quot;rtabmap/core/Parameters.h&quot;</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include &quot;rtabmap/core/OdometryEvent.h&quot;</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include &lt;queue&gt;</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="keyword">class </span><a class="code hl_class" href="classUTimer.html">UTimer</a>;</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> </div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="keyword">class </span>Rtabmap;</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="foldopen" id="foldopen00051" data-start="{" data-end="};">
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html"> 51</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a> :</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThreadNode</a>,</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keyword">public</span> <a class="code hl_class" href="classUEventsHandler.html">UEventsHandler</a></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span>{</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">enum</span> State {</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> kStateDetecting,</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> kStateProcessCommand</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> };</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="comment">// take ownership</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <a class="code hl_class" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a>(<a class="code hl_class" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> * <a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a>);</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1RtabmapThread.html">~RtabmapThread</a>();</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keywordtype">void</span> clearBufferedData();</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="keywordtype">void</span> setDetectorRate(<span class="keywordtype">float</span> rate);</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">void</span> setDataBufferSize(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> bufferSize);</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordtype">void</span> createIntermediateNodes(<span class="keywordtype">bool</span> enabled);</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keywordtype">float</span> getDetectorRate()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _rate;}</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getDataBufferSize()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _dataBufferMaxSize;}</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keywordtype">bool</span> getCreateIntermediateNodes()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _createIntermediateNodes;}</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574"> 82</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574">close</a>(<span class="keywordtype">bool</span> databaseSaved, <span class="keyword">const</span> std::string &amp; databasePath = <span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09"> 85</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09">handleEvent</a>(<a class="code hl_class" href="classUEvent.html">UEvent</a> * anEvent);</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopBegin();</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopKill();</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="keywordtype">void</span> process();</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keywordtype">void</span> addData(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> &amp; odomEvent);</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keywordtype">bool</span> getData(<a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> &amp; data);</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keywordtype">void</span> pushNewState(State newState, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1RtabmapEventCmd.html">RtabmapEventCmd</a> &amp; cmdEvent = <a class="code hl_class" href="classrtabmap_1_1RtabmapEventCmd.html">RtabmapEventCmd</a>(RtabmapEventCmd::kCmdUndef));</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordtype">void</span> publishMap(<span class="keywordtype">bool</span> optimized, <span class="keywordtype">bool</span> full, <span class="keywordtype">bool</span> graphOnly) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _stateMutex;</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> std::queue&lt;State&gt; _state;</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> std::queue&lt;RtabmapEventCmd&gt; _stateParam;</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> std::list&lt;OdometryEvent&gt; _dataBuffer;</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> std::list&lt;double&gt; _newMapEvents;</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dataMutex;</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _dataAdded;</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _dataBufferMaxSize;</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">float</span> _rate;</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">bool</span> _createIntermediateNodes;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">double</span> _previousStamp;</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <a class="code hl_class" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> * _rtabmap;</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">bool</span> _paused;</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> lastPose_;</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> cv::Mat covariance_;</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> cv::Mat _userData;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _userDataMutex;</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span>};</div>
</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> </div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span><span class="preprocessor">#endif </span><span class="comment">/* RTABMAPTHREAD_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassUEvent_html"><div class="ttname"><a href="classUEvent.html">UEvent</a></div><div class="ttdef"><b>Definition</b> <a href="UEvent_8h_source.html#l00057">UEvent.h:57</a></div></div>
<div class="ttc" id="aclassUEventsHandler_html"><div class="ttname"><a href="classUEventsHandler.html">UEventsHandler</a></div><div class="ttdef"><b>Definition</b> <a href="UEventsHandler_8h_source.html#l00128">UEventsHandler.h:128</a></div></div>
<div class="ttc" id="aclassUMutex_html"><div class="ttname"><a href="classUMutex.html">UMutex</a></div><div class="ttdef"><b>Definition</b> <a href="UMutex_8h_source.html#l00054">UMutex.h:55</a></div></div>
<div class="ttc" id="aclassUSemaphore_html"><div class="ttname"><a href="classUSemaphore.html">USemaphore</a></div><div class="ttdef"><b>Definition</b> <a href="USemaphore_8h_source.html#l00055">USemaphore.h:56</a></div></div>
<div class="ttc" id="aclassUThread_html"><div class="ttname"><a href="classUThread.html">UThread</a></div><div class="ttdef"><b>Definition</b> <a href="UThread_8h_source.html#l00086">UThread.h:87</a></div></div>
<div class="ttc" id="aclassUTimer_html"><div class="ttname"><a href="classUTimer.html">UTimer</a></div><div class="ttdef"><b>Definition</b> <a href="UTimer_8h_source.html#l00046">UTimer.h:47</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html">rtabmap::OdometryEvent</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00039">OdometryEvent.h:40</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapEventCmd_html"><div class="ttname"><a href="classrtabmap_1_1RtabmapEventCmd.html">rtabmap::RtabmapEventCmd</a></div><div class="ttdef"><b>Definition</b> <a href="RtabmapEvent_8h_source.html#l00057">RtabmapEvent.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html">rtabmap::RtabmapThread</a></div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00051">RtabmapThread.h:54</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_aabea5cf86e55d6669d41b0b569dac574"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574">rtabmap::RtabmapThread::close</a></div><div class="ttdeci">void close(bool databaseSaved, const std::string &amp;databasePath=&quot;&quot;)</div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_ab2556f7773329963038d876c86e97d09"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09">rtabmap::RtabmapThread::handleEvent</a></div><div class="ttdeci">virtual bool handleEvent(UEvent *anEvent)</div></div>
<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html">rtabmap::Rtabmap</a></div><div class="ttdoc">Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00193">Rtabmap.h:194</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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