rtabmap::RtabmapThread Class Reference

Inheritance diagram for rtabmap::RtabmapThread:

Collaboration diagram for rtabmap::RtabmapThread:

Public Types
enum	State { kStateDetecting , kStateProcessCommand }
Public Types inherited from UThread
enum	Priority {   kPLow , kPBelowNormal , kPNormal , kPAboveNormal ,   kPRealTime }
Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE	Handle
typedef void(*	Handler) ()
typedef THREAD_HANDLE	Handle
typedef void(*	Handler) ()

Public Member Functions
	RtabmapThread (Rtabmap *rtabmap)
void	clearBufferedData ()
void	setDetectorRate (float rate)
void	setDataBufferSize (unsigned int bufferSize)
void	createIntermediateNodes (bool enabled)
float	getDetectorRate () const
unsigned int	getDataBufferSize () const
bool	getCreateIntermediateNodes () const
void	close (bool databaseSaved, const std::string &databasePath="")
Public Member Functions inherited from UThread
	UThread (Priority priority=kPNormal)
virtual	~UThread ()
void	start ()
void	kill ()
void	join (bool killFirst=false)
void	setPriority (Priority priority)
void	setAffinity (int cpu=0)
bool	isCreating () const
bool	isRunning () const
bool	isIdle () const
bool	isKilled () const
Handle	getThreadHandle () const
unsigned long	getThreadId () const
Public Member Functions inherited from UThreadC< void >
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
Public Member Functions inherited from UEventsHandler
void	registerToEventsManager ()
void	unregisterFromEventsManager ()

Protected Member Functions
virtual bool	handleEvent (UEvent *anEvent)
Protected Member Functions inherited from UEventsHandler
	UEventsHandler ()
virtual	~UEventsHandler ()
Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const

Additional Inherited Members
Static Public Member Functions inherited from UThread
static unsigned long	currentThreadId ()
Static Public Member Functions inherited from UThreadC< void >
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
static int	Join (Handle H)
static int	Kill (Handle H)
static int	Detach (Handle H)
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
static int	Join (const Handle &H)
static int	Kill (const Handle &H)
static int	Detach (const Handle &H)
Static Protected Member Functions inherited from UThreadC< void >
static void	Exit ()
static void	TestCancel ()
static Handle	Self ()
static void	Exit ()
static void	TestCancel ()
static int	Self ()

Detailed Description

Definition at line 51 of file RtabmapThread.h.

Member Enumeration Documentation

State

enum rtabmap::RtabmapThread::State

Definition at line 56 of file RtabmapThread.h.

Member Function Documentation

getDetectorRate()

float rtabmap::RtabmapThread::getDetectorRate ( ) const

inline

Definition at line 71 of file RtabmapThread.h.

getDataBufferSize()

unsigned int rtabmap::RtabmapThread::getDataBufferSize ( ) const

inline

Definition at line 72 of file RtabmapThread.h.

getCreateIntermediateNodes()

bool rtabmap::RtabmapThread::getCreateIntermediateNodes ( ) const

inline

Definition at line 73 of file RtabmapThread.h.

close()

void rtabmap::RtabmapThread::close	(	bool	databaseSaved,
		const std::string &	databasePath = ""
	)

Close rtabmap. This will delete rtabmap object if set.

Parameters

databaseSaved	true=database saved, false=database discarded.
databasePath	output database file name, ignored if Db/Sqlite3InMemory=false (opened database is then overwritten).

handleEvent()

virtual bool rtabmap::RtabmapThread::handleEvent ( UEvent *  event )

protectedvirtual

Method called by the UEventsManager to handle an event. Important : this method must do a minimum of work because the faster the dispatching loop is done; the faster the events are received. If a handling function takes too much time, the events list can grow faster than it is emptied. The event can be modified.

Returns

"true" to notify UEventsManager that this handler took ownership of the event (meaning it must delete it). The event will not be dispatched to next handlers.

"false" to let event be dispatched to next handlers (default behavior). UEventsManager will take care of deleting the event.

Implements UEventsHandler.

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The documentation for this class was generated from the following file:

• corelib/include/rtabmap/core/RtabmapThread.h