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Added c++ example usage

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@694 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2013-01-10 16:28:12 +00:00
parent d9ef3a603c
commit 0f4e24233c
11 changed files with 141 additions and 29 deletions
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4
corelib/include/rtabmap/core/Rtabmap.h
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@@ -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;