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moved rtabmap-ros-pkg project in this project

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2011-06-05 14:45:39 +00:00
commit 2d73090f3a
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corelib/src/DBDriverSqlite3.h Normal file
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/*
* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
*
* This file is part of RTAB-Map.
*
* RTAB-Map is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* RTAB-Map is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef DBDRIVERSQLITE3_H_
#define DBDRIVERSQLITE3_H_
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/DBDriver.h"
#include <sqlite3.h>
namespace rtabmap {
class RTABMAP_EXP DBDriverSqlite3: public DBDriver {
public:
DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());
virtual ~DBDriverSqlite3();
virtual void parseParameters(const ParametersMap & parameters);
void setDbInMemory(bool dbInMemory);
void setJournalMode(int journalMode);
void setCacheSize(unsigned int cacheSize);
private:
virtual bool connectDatabaseQuery(const std::string & url);
virtual void disconnectDatabaseQuery();
virtual bool isConnectedQuery() const;
virtual long getMemoryUsedQuery() const; // In bytes
virtual bool executeNoResultQuery(const std::string & sql) const;
virtual bool changeWordsRefQuery(const std::map<int, int> & refsToChange) const; // <oldWordId, activeWordId>
virtual bool deleteWordsQuery(const std::vector<int> & ids) const;
virtual bool getNeighborIdsQuery(int signatureId, std::set<int> & neighbors) const;
virtual bool getWeightQuery(int signatureId, int & weight) const;
virtual bool getLoopClosureIdQuery(int signatureId, int & loopId) const;
virtual bool addNeighborQuery(int id, int neighbor, const std::list<std::vector<float> > & actuatorStates) const;
virtual bool saveQuery(const std::vector<VisualWord *> & visualWords) const;
virtual bool updateQuery(const std::list<Signature *> & signatures) const;
virtual bool saveQuery(const KeypointSignature * ss) const;
virtual bool saveQuery(const std::list<KeypointSignature *> & signatures) const;
// Load objects
virtual bool loadQuery(VWDictionary * dictionary) const;
virtual bool loadLastSignaturesQuery(std::list<Signature *> & signatures) const;
virtual bool loadQuery(int signatureId, Signature ** s) const;
virtual bool loadQuery(int wordId, VisualWord ** vw) const;
virtual bool loadQuery(int signatureId, KeypointSignature * ss) const;
virtual bool loadKeypointSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool onlyParents = false) const;
virtual bool loadWordsQuery(const std::list<int> & wordIds, std::list<VisualWord *> & vws) const;
virtual bool loadNeighborsQuery(int signatureId, std::map<int, std::list<std::vector<float> > > & neighbors) const;
virtual bool getImageCompressedQuery(int id, CvMat ** compressed) const;
virtual bool getAllSignatureIdsQuery(std::set<int> & ids) const;
virtual bool getLastSignatureIdQuery(int & id) const;
virtual bool getLastVisualWordIdQuery(int & id) const;
virtual bool getSurfNiQuery(int signatureId, int & ni) const;
virtual bool getChildrenIdsQuery(int signatureId, std::list<int> & ids) const;
virtual bool getHighestWeightedSignaturesQuery(unsigned int count, std::multimap<int, int> & ids) const;
private:
int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
private:
sqlite3 * _ppDb;
bool _dbInMemory;
unsigned int _cacheSize;
int _journalMode;
};
}
#endif /* DBDRIVERSQLITE3_H_ */