i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

minor refactoring...

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@78 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-08 13:34:39 +00:00
parent a0576be506
commit bc3f5f2ba2
2 changed files with 52 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -111,6 +111,8 @@ private:
virtual void killCleanup();
virtual void startInit();
void process();
void resetMemory();
void deleteMemory();
void addSMState(SMState * data); // ownership is transferred
SMState * getSMState();
void setupLogFiles();

95
corelib/src/Rtabmap.cpp
View File

@@ -445,23 +445,7 @@ void Rtabmap::mainLoop()
this->parseParameters(parameters);
break;
case kStateReseting:
if(_memory)
{
if(_memory)
{
UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitializing));
_memory->init(DB_TYPE, _wDir + DB_NAME);
UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitialized));
}
if(_bayesFilter)
{
_bayesFilter->reset();
}
}
_reactivateId = 0;
_highestHypothesisValue = 0;
_spreadMargin = 0;
this->setupLogFiles();
this->resetMemory();
break;
case kStateDumpingMemory:
if(_memory)
@@ -483,24 +467,7 @@ void Rtabmap::mainLoop()
}
break;
case kStateDeletingMemory:
if(_memory)
{
UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitializing));
_memory->init(DB_TYPE, _wDir + DB_NAME, true);
UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitialized));
}
else
{
UFile::erase(_wDir + DB_NAME);
}
if(_bayesFilter)
{
_bayesFilter->reset();
}
_reactivateId = 0;
_highestHypothesisValue = 0;
_spreadMargin = 0;
this->setupLogFiles();
this->deleteMemory();
break;
default:
uSleep(100);
@@ -509,14 +476,52 @@ void Rtabmap::mainLoop()
}
}
void Rtabmap::resetMemory()
{
if(_memory)
{
if(_memory)
{
UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitializing));
_memory->init(DB_TYPE, _wDir + DB_NAME);
UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitialized));
}
if(_bayesFilter)
{
_bayesFilter->reset();
}
}
_reactivateId = 0;
_highestHypothesisValue = 0;
_spreadMargin = 0;
this->setupLogFiles();
}
void Rtabmap::deleteMemory()
{
if(_memory)
{
UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitializing));
_memory->init(DB_TYPE, _wDir + DB_NAME, true);
UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitialized));
}
else
{
UFile::erase(_wDir + DB_NAME);
}
if(_bayesFilter)
{
_bayesFilter->reset();
}
_reactivateId = 0;
_highestHypothesisValue = 0;
_spreadMargin = 0;
this->setupLogFiles();
}
void Rtabmap::handleEvent(UEvent* event)
{
if(this->isKilled())
{
return;
}
if(_state.empty()) // If empty, RTAB-Map is detecting
if(this->isRunning())
{
if(event->getClassName().compare("SMStateEvent") == 0)
{
@@ -525,7 +530,7 @@ void Rtabmap::handleEvent(UEvent* event)
this->addSMState(data);
}
}
if(event->getClassName().compare("RtabmapEventCmd") == 0)
else if(event->getClassName().compare("RtabmapEventCmd") == 0)
{
RtabmapEventCmd * rtabmapEvent = (RtabmapEventCmd*)event;
RtabmapEventCmd::Cmd cmd = rtabmapEvent->getCmd();
@@ -564,11 +569,11 @@ void Rtabmap::handleEvent(UEvent* event)
}
else if(cmd == RtabmapEventCmd::kCmdDeleteMemory)
{
ULOGGER_DEBUG("CMD_DELETE_MEMORY");
pushNewState(kStateDeletingMemory);
ULOGGER_DEBUG("CMD_DELETE_MEMORY");
pushNewState(kStateDeletingMemory);
}
}
if(event->getClassName().compare("ParamEvent") == 0)
else if(event->getClassName().compare("ParamEvent") == 0)
{
ULOGGER_DEBUG("changing parameters");
pushNewState(kStateChangingParameters, ((ParamEvent*)event)->getParameters());