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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738
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@@ -10,6 +10,10 @@
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<td id="projectalign">
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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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</div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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</td>
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</tr>
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</tbody>
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@@ -55,6 +60,23 @@ $(function() {
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$(document).ready(function() { init_codefold(0); });
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/* @license-end */
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<script type="text/javascript">
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
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$(document).ready(function(){initNavTree('OdometryThread_8h_source.html',''); initResizable(); });
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/* @license-end */
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onmouseover="return searchBox.OnSearchSelectShow()"
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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</div>
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<div id="nav-path" class="navpath">
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<ul>
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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
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</div><!-- top -->
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<div class="header">
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<div class="headertitle"><div class="title">OdometryThread.h</div></div>
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</div><!--header-->
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@@ -126,61 +143,65 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">class </span>Odometry;</div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
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<div class="foldopen" id="foldopen00042" data-start="{" data-end="};">
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryThread.html"> 42</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryThread.html">OdometryThread</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThread</a>, <span class="keyword">public</span> <a class="code hl_class" href="classUEventsHandler.html">UEventsHandler</a> {</div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <span class="comment">// take ownership of Odometry</span></div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <a class="code hl_class" href="classrtabmap_1_1OdometryThread.html">OdometryThread</a>(<a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * odometry, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dataBufferMaxSize = 1);</div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryThread.html">~OdometryThread</a>();</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="keyword">protected</span>:</div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8"> 49</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">handleEvent</a>(<a class="code hl_class" href="classUEvent.html">UEvent</a> * event);</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopBegin();</div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopKill();</div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> </div>
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="comment">//============================================================</span></div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="comment">// MAIN LOOP</span></div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="comment">//============================================================</span></div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">void</span> addData(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> & data);</div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordtype">bool</span> getData(<a class="code hl_class" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> & data);</div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> </div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _dataAdded;</div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dataMutex;</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> std::list<SensorEvent> _dataBuffer;</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> std::list<SensorData> _imuBuffer;</div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * _odometry;</div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _dataBufferMaxSize;</div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordtype">bool</span> _resetOdometry;</div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _resetPose;</div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _previousGuessPose;</div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordtype">double</span> _oldestAsyncImuStamp;</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keywordtype">double</span> _newestAsyncImuStamp;</div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span>};</div>
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<div class="foldopen" id="foldopen00080" data-start="{" data-end="};">
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryThread.html"> 80</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryThread.html">OdometryThread</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThread</a>, <span class="keyword">public</span> <a class="code hl_class" href="classUEventsHandler.html">UEventsHandler</a> {</div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryThread.html#a66435ffb547d7d59faa9224fe030934b"> 90</a></span> <a class="code hl_function" href="classrtabmap_1_1OdometryThread.html#a66435ffb547d7d59faa9224fe030934b">OdometryThread</a>(<a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * odometry, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dataBufferMaxSize = 1);</div>
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<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryThread.html">~OdometryThread</a>();</div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span><span class="keyword">protected</span>:</div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8"> 103</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">handleEvent</a>(<a class="code hl_class" href="classUEvent.html">UEvent</a> * event);</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> </div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopBegin();</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopKill();</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> </div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="comment">//============================================================</span></div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="comment">// MAIN LOOP</span></div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="comment">//============================================================</span></div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">void</span> addData(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> & data);</div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">bool</span> getData(<a class="code hl_class" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> & data);</div>
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<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> </div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _dataAdded;</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dataMutex;</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> std::list<SensorEvent> _dataBuffer;</div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> std::list<SensorData> _imuBuffer;</div>
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<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * _odometry;</div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _dataBufferMaxSize;</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keywordtype">bool</span> _resetOdometry;</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _resetPose;</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _previousGuessPose;</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">double</span> _oldestAsyncImuStamp;</div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">double</span> _newestAsyncImuStamp;</div>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span>};</div>
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</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> </div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span>} <span class="comment">// namespace rtabmap</span></div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> </div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYTHREAD_H_ */</span><span class="preprocessor"></span></div>
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<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span>} <span class="comment">// namespace rtabmap</span></div>
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<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> </div>
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<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> </div>
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<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYTHREAD_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassUEvent_html"><div class="ttname"><a href="classUEvent.html">UEvent</a></div><div class="ttdef"><b>Definition</b> <a href="UEvent_8h_source.html#l00057">UEvent.h:57</a></div></div>
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<div class="ttc" id="aclassUEventsHandler_html"><div class="ttname"><a href="classUEventsHandler.html">UEventsHandler</a></div><div class="ttdef"><b>Definition</b> <a href="UEventsHandler_8h_source.html#l00128">UEventsHandler.h:128</a></div></div>
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<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>
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<div class="ttc" id="aclassUSemaphore_html"><div class="ttname"><a href="classUSemaphore.html">USemaphore</a></div><div class="ttdef"><b>Definition</b> <a href="USemaphore_8h_source.html#l00055">USemaphore.h:56</a></div></div>
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<div class="ttc" id="aclassUThread_html"><div class="ttname"><a href="classUThread.html">UThread</a></div><div class="ttdef"><b>Definition</b> <a href="UThread_8h_source.html#l00086">UThread.h:87</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html">rtabmap::OdometryThread</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryThread_8h_source.html#l00042">OdometryThread.h:42</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html_a65808dd7148c1e2c49dcf90ef718b5a8"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">rtabmap::OdometryThread::handleEvent</a></div><div class="ttdeci">virtual bool handleEvent(UEvent *event)</div></div>
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<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html">rtabmap::OdometryThread</a></div><div class="ttdoc">Runs an Odometry front-end in its own thread, driven by events.</div><div class="ttdef"><b>Definition</b> <a href="OdometryThread_8h_source.html#l00080">OdometryThread.h:80</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html_a65808dd7148c1e2c49dcf90ef718b5a8"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">rtabmap::OdometryThread::handleEvent</a></div><div class="ttdeci">virtual bool handleEvent(UEvent *event)</div><div class="ttdoc">Receives the events listed in the class description.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html_a66435ffb547d7d59faa9224fe030934b"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html#a66435ffb547d7d59faa9224fe030934b">rtabmap::OdometryThread::OdometryThread</a></div><div class="ttdeci">OdometryThread(Odometry *odometry, unsigned int dataBufferMaxSize=1)</div><div class="ttdoc">Constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorEvent_html"><div class="ttname"><a href="classrtabmap_1_1SensorEvent.html">rtabmap::SensorEvent</a></div><div class="ttdoc">Event class for sensor data communication in RTAB-Map's event system.</div><div class="ttdef"><b>Definition</b> <a href="SensorEvent_8h_source.html#l00063">SensorEvent.h:65</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
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||||
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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