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Rtabmap core : When pushing a new state, rtabmap is not anymore automatically started if it is still idle -> all stacked states are parsed when rtabmap is started.

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@81 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-08 14:35:31 +00:00
parent bc3f5f2ba2
commit 7407657b23
1 changed files with 4 additions and 12 deletions
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16
corelib/src/Rtabmap.cpp
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@@ -165,11 +165,6 @@ void Rtabmap::startInit()
void Rtabmap::pushNewState(State newState, const ParametersMap & parameters) void Rtabmap::pushNewState(State newState, const ParametersMap & parameters)
{ {
if(this->isIdle())
{
this->start();
}
ULOGGER_DEBUG("to %d", newState); ULOGGER_DEBUG("to %d", newState);
_stateMutex.lock(); _stateMutex.lock();
@@ -521,14 +516,11 @@ void Rtabmap::deleteMemory()
void Rtabmap::handleEvent(UEvent* event) void Rtabmap::handleEvent(UEvent* event)
{ {
if(this->isRunning()) if(this->isRunning() && event->getClassName().compare("SMStateEvent") == 0)
{ {
if(event->getClassName().compare("SMStateEvent") == 0) SMStateEvent * e = (SMStateEvent*)event;
{ SMState * data = e->getSMStateOwnership();
SMStateEvent * e = (SMStateEvent*)event; this->addSMState(data);
SMState * data = e->getSMStateOwnership();
this->addSMState(data);
}
} }
else if(event->getClassName().compare("RtabmapEventCmd") == 0) else if(event->getClassName().compare("RtabmapEventCmd") == 0)
{ {