Update documentation (latest) 0f98c63e9d

2026-10-08 02:57:46 +08:00 · 2026-09-28 16:36:22 +00:00
parent a6382ee216
commit 23994848b1
735 changed files with 1978 additions and 1721 deletions
@@ -33,7 +33,7 @@
 <tbody>
 <tr id="projectrow">
  <td id="projectalign">
-   <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.12</span>
+   <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.13</span>
   </div>
   <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
  </td>
@@ -109,10 +109,20 @@ $(document).ready(function(){initNavTree('classUScopeMutex.html',''); initResiza
 <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:abbbb70250c1e458511be2a9d744ecd94" id="r_abbbb70250c1e458511be2a9d744ecd94"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUScopeMutex.html#abbbb70250c1e458511be2a9d744ecd94">UScopeMutex</a> (const <a class="el" href="classUMutex.html">UMutex</a> &amp;mutex)</td></tr>
-<tr class="separator:abbbb70250c1e458511be2a9d744ecd94"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0edb03132a8182e53bb0c5e960fd2a4b" id="r_a0edb03132a8182e53bb0c5e960fd2a4b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUScopeMutex.html#a0edb03132a8182e53bb0c5e960fd2a4b">UScopeMutex</a> (const <a class="el" href="classUMutex.html">UMutex</a> &amp;mutex, bool lockNow=true)</td></tr>
+<tr class="separator:a0edb03132a8182e53bb0c5e960fd2a4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aec8a249b8238c90ff7cdd6dea01afb58" id="r_aec8a249b8238c90ff7cdd6dea01afb58"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUScopeMutex.html#aec8a249b8238c90ff7cdd6dea01afb58">UScopeMutex</a> (<a class="el" href="classUMutex.html">UMutex</a> *mutex)</td></tr>
 <tr class="separator:aec8a249b8238c90ff7cdd6dea01afb58"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a39bf03b3225db08d8a07da0777aee5f5" id="r_a39bf03b3225db08d8a07da0777aee5f5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUScopeMutex.html#a39bf03b3225db08d8a07da0777aee5f5">~UScopeMutex</a> ()</td></tr>
+<tr class="separator:a39bf03b3225db08d8a07da0777aee5f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6515d46f7117d390679f9bf79273488e" id="r_a6515d46f7117d390679f9bf79273488e"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUScopeMutex.html#a6515d46f7117d390679f9bf79273488e">lock</a> () &amp;</td></tr>
+<tr class="separator:a6515d46f7117d390679f9bf79273488e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab5520a99fb161894c6354d3772b819af" id="r_ab5520a99fb161894c6354d3772b819af"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUScopeMutex.html#ab5520a99fb161894c6354d3772b819af">lockTry</a> () &amp;</td></tr>
+<tr class="separator:ab5520a99fb161894c6354d3772b819af"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a05eed5425e47144d045c5376e7087248" id="r_a05eed5425e47144d045c5376e7087248"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUScopeMutex.html#a05eed5425e47144d045c5376e7087248">unlock</a> () &amp;</td></tr>
+<tr class="separator:a05eed5425e47144d045c5376e7087248"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a09b8bde74967224b7a050eca317c79e7" id="r_a09b8bde74967224b7a050eca317c79e7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUScopeMutex.html#a09b8bde74967224b7a050eca317c79e7">isLocked</a> () const</td></tr>
+<tr class="separator:a09b8bde74967224b7a050eca317c79e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><p>Automatically lock the referenced mutex on constructor and unlock mutex on destructor.</p>
@@ -132,13 +142,31 @@ Public Member Functions</h2></td></tr>
 <div class="line">   <span class="keywordflow">return</span> 0; <span class="comment">// automatically unlock the mutex m</span></div>
 <div class="line">}</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="aclassUScopeMutex_html"><div class="ttname"><a href="classUScopeMutex.html">UScopeMutex</a></div><div class="ttdef"><b>Definition</b> <a href="UMutex_8h_source.html#l00164">UMutex.h:165</a></div></div>
+<div class="ttc" id="aclassUScopeMutex_html"><div class="ttname"><a href="classUScopeMutex.html">UScopeMutex</a></div><div class="ttdef"><b>Definition</b> <a href="UMutex_8h_source.html#l00193">UMutex.h:194</a></div></div>
+</div><!-- fragment --><p>The lock can also be deferred, for example to only try locking it. The destructor then unlocks the mutex only if this object locked it: </p><div class="fragment"><div class="line"><span class="keywordtype">void</span> callback()</div>
+<div class="line">{</div>
+<div class="line">   <a class="code hl_class" href="classUScopeMutex.html">UScopeMutex</a> sm(m, <span class="keyword">false</span>); <span class="comment">// not locked yet</span></div>
+<div class="line">   <span class="keywordflow">if</span>(sm.lockTry() == 0)</div>
+<div class="line">   {</div>
+<div class="line">      <span class="keywordflow">if</span>(cond1)</div>
+<div class="line">      {</div>
+<div class="line">         <span class="keywordflow">return</span>; <span class="comment">// automatically unlock the mutex m</span></div>
+<div class="line">      }</div>
+<div class="line">      ...</div>
+<div class="line">   }</div>
+<div class="line">   <span class="comment">// the mutex m is unlocked only if lockTry() succeeded</span></div>
+<div class="line">}</div>
+</div><!-- fragment --><p>The object must be named: a temporary would be destroyed, and the mutex unlocked, at the end of the expression. <a class="el" href="classUScopeMutex.html#a6515d46f7117d390679f9bf79273488e">lock()</a>, <a class="el" href="classUScopeMutex.html#ab5520a99fb161894c6354d3772b819af">lockTry()</a> and <a class="el" href="classUScopeMutex.html#a05eed5425e47144d045c5376e7087248">unlock()</a> can only be called on a named object, so that <code>if(<a class="el" href="classUScopeMutex.html">UScopeMutex(m, false)</a>.<a class="el" href="classUScopeMutex.html#ab5520a99fb161894c6354d3772b819af">lockTry()</a> == 0)</code> doesn't compile. In C++17, the object can be scoped to an if statement instead: </p><div class="fragment"><div class="line"><span class="keywordflow">if</span>(<a class="code hl_class" href="classUScopeMutex.html">UScopeMutex</a> sm(m, <span class="keyword">false</span>); sm.<a class="code hl_function" href="classUScopeMutex.html#ab5520a99fb161894c6354d3772b819af">lockTry</a>() == 0)</div>
+<div class="line">{</div>
+<div class="line">   <span class="comment">// locked here</span></div>
+<div class="line">} <span class="comment">// unlocked here, only if lockTry() succeeded</span></div>
+<div class="ttc" id="aclassUScopeMutex_html_ab5520a99fb161894c6354d3772b819af"><div class="ttname"><a href="classUScopeMutex.html#ab5520a99fb161894c6354d3772b819af">UScopeMutex::lockTry</a></div><div class="ttdeci">int lockTry() &amp;</div><div class="ttdef"><b>Definition</b> <a href="UMutex_8h_source.html#l00246">UMutex.h:246</a></div></div>
 </div><!-- fragment --><dl class="section see"><dt>See also</dt><dd><a class="el" href="classUMutex.html">UMutex</a> </dd></dl>

-<p class="definition">Definition at line <a class="el" href="UMutex_8h_source.html#l00164">164</a> of file <a class="el" href="UMutex_8h_source.html">UMutex.h</a>.</p>
+<p class="definition">Definition at line <a class="el" href="UMutex_8h_source.html#l00193">193</a> of file <a class="el" href="UMutex_8h_source.html">UMutex.h</a>.</p>
 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a id="abbbb70250c1e458511be2a9d744ecd94" name="abbbb70250c1e458511be2a9d744ecd94"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#abbbb70250c1e458511be2a9d744ecd94">&#9670;&#160;</a></span>UScopeMutex() <span class="overload">[1/2]</span></h2>
+<a id="a0edb03132a8182e53bb0c5e960fd2a4b" name="a0edb03132a8182e53bb0c5e960fd2a4b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0edb03132a8182e53bb0c5e960fd2a4b">&#9670;&#160;</a></span>UScopeMutex() <span class="overload">[1/2]</span></h2>

 <div class="memitem">
 <div class="memproto">
@@ -150,8 +178,18 @@ Public Member Functions</h2></td></tr>
          <td class="memname">UScopeMutex::UScopeMutex </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classUMutex.html">UMutex</a> &amp;&#160;</td>
-          <td class="paramname"><em>mutex</em></td><td>)</td>
+          <td class="paramname"><em>mutex</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>lockNow</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
        </tr>
      </table>
  </td>
@@ -160,8 +198,15 @@ Public Member Functions</h2></td></tr>
  </tr>
 </table>
 </div><div class="memdoc">
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">mutex</td><td>the mutex to lock. </td></tr>
+    <tr><td class="paramname">lockNow</td><td>if true (default), the mutex is locked here. If false, it is not locked until <a class="el" href="classUScopeMutex.html#a6515d46f7117d390679f9bf79273488e">lock()</a> or <a class="el" href="classUScopeMutex.html#ab5520a99fb161894c6354d3772b819af">lockTry()</a> is called. </td></tr>
+  </table>
+  </dd>
+</dl>

-<p class="definition">Definition at line <a class="el" href="UMutex_8h_source.html#l00167">167</a> of file <a class="el" href="UMutex_8h_source.html">UMutex.h</a>.</p>
+<p class="definition">Definition at line <a class="el" href="UMutex_8h_source.html#l00201">201</a> of file <a class="el" href="UMutex_8h_source.html">UMutex.h</a>.</p>

 </div>
 </div>
@@ -189,7 +234,7 @@ Public Member Functions</h2></td></tr>
 </table>
 </div><div class="memdoc">

-<p class="definition">Definition at line <a class="el" href="UMutex_8h_source.html#l00173">173</a> of file <a class="el" href="UMutex_8h_source.html">UMutex.h</a>.</p>
+<p class="definition">Definition at line <a class="el" href="UMutex_8h_source.html#l00211">211</a> of file <a class="el" href="UMutex_8h_source.html">UMutex.h</a>.</p>

 </div>
 </div>
@@ -215,8 +260,122 @@ Public Member Functions</h2></td></tr>
  </tr>
 </table>
 </div><div class="memdoc">
+<p>Unlock the mutex, only if this object locked it. </p>

-<p class="definition">Definition at line <a class="el" href="UMutex_8h_source.html#l00178">178</a> of file <a class="el" href="UMutex_8h_source.html">UMutex.h</a>.</p>
+<p class="definition">Definition at line <a class="el" href="UMutex_8h_source.html#l00220">220</a> of file <a class="el" href="UMutex_8h_source.html">UMutex.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6515d46f7117d390679f9bf79273488e" name="a6515d46f7117d390679f9bf79273488e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6515d46f7117d390679f9bf79273488e">&#9670;&#160;</a></span>lock()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int UScopeMutex::lock </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> &amp;</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Lock the mutex, if this object doesn't hold it already. </p><dl class="section return"><dt>Returns</dt><dd>0 on success, an error code otherwise. </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="UMutex_8h_source.html#l00229">229</a> of file <a class="el" href="UMutex_8h_source.html">UMutex.h</a>.</p>
+
+</div>
+</div>
+<a id="ab5520a99fb161894c6354d3772b819af" name="ab5520a99fb161894c6354d3772b819af"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab5520a99fb161894c6354d3772b819af">&#9670;&#160;</a></span>lockTry()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int UScopeMutex::lockTry </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> &amp;</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Try locking the mutex, if this object doesn't hold it already. </p><dl class="section return"><dt>Returns</dt><dd>0 if the mutex is held by this object, EBUSY (or another error code) otherwise. </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="UMutex_8h_source.html#l00246">246</a> of file <a class="el" href="UMutex_8h_source.html">UMutex.h</a>.</p>
+
+</div>
+</div>
+<a id="a05eed5425e47144d045c5376e7087248" name="a05eed5425e47144d045c5376e7087248"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a05eed5425e47144d045c5376e7087248">&#9670;&#160;</a></span>unlock()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int UScopeMutex::unlock </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> &amp;</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Unlock the mutex before this object goes out of scope, only if this object locked it. </p><dl class="section return"><dt>Returns</dt><dd>0 on success (or if this object didn't hold the mutex), an error code otherwise. </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="UMutex_8h_source.html#l00262">262</a> of file <a class="el" href="UMutex_8h_source.html">UMutex.h</a>.</p>
+
+</div>
+</div>
+<a id="a09b8bde74967224b7a050eca317c79e7" name="a09b8bde74967224b7a050eca317c79e7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a09b8bde74967224b7a050eca317c79e7">&#9670;&#160;</a></span>isLocked()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool UScopeMutex::isLocked </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>true if this object currently holds the mutex. </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="UMutex_8h_source.html#l00275">275</a> of file <a class="el" href="UMutex_8h_source.html">UMutex.h</a>.</p>

 </div>
 </div>