Added c++ example usage

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@694 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Rtabmap.h

@@ -94,11 +94,14 @@ public:
 	std::set<int> getStMem() const;
 	std::map<int, int> getWeights() const;
 	int getTotalMemSize() const;
+	double getLastProcessTime() const {return _lastProcessTime;};
 
 	void setMaxTimeAllowed(float maxTimeAllowed); // in ms
 	void setDataBufferSize(int size);
 	void setWorkingDirectory(std::string path);
 
+	void deleteMemory();
+
 	void adjustLikelihood(std::map<int, float> & likelihood) const;
 	std::pair<int, float> selectHypothesis(const std::map<int, float> & posterior,
 											const std::map<int, float> & likelihood) const;
@@ -141,6 +144,7 @@ private:
 	int _retrievedId;
 	float _lastLcHypothesisValue;
 	int _lastLoopClosureId;
+	double _lastProcessTime;
 
 	UMutex _stateMutex;
 	std::stack<State> _state;

corelib/src/Rtabmap.cpp

@@ -75,6 +75,7 @@ Rtabmap::Rtabmap() :
 	_retrievedId(0),
 	_lastLcHypothesisValue(0),
 	_lastLoopClosureId(0),
+	_lastProcessTime(0.0),
 	_epipolarGeometry(0),
 	_bayesFilter(0),
 	_memory(0),
@@ -517,6 +518,15 @@ void Rtabmap::mainLoop()
 	}
 }
 
+void Rtabmap::deleteMemory()
+{
+	// Only if rtabmap's thread is not started...
+	if(!this->isRunning())
+	{
+		this->resetMemory(true);
+	}
+}
+
 void Rtabmap::resetMemory(bool dbOverwritten)
 {
 	if(_memory)
@@ -1146,6 +1156,7 @@ void Rtabmap::process()
 		ULOGGER_INFO("Removing old signatures because time limit is reached %f>%f or memory is reached %d>%d...", totalTime*1000, _maxTimeAllowed, _memory->getWorkingMemSize(), _maxMemoryAllowed);
 		signaturesRemoved = _memory->forget(immunizedLocations);
 	}
+	_lastProcessTime = totalTime;
 
 	timeRealTimeLimitReachedProcess = timer.ticks();
 	ULOGGER_INFO("Time limit reached processing = %f...", timeRealTimeLimitReachedProcess);