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<p>Runs an <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> front-end in its own thread, driven by events.
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<a href="classrtabmap_1_1OdometryThread.html#details">More...</a></p>
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Inheritance diagram for rtabmap::OdometryThread:</div>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:a66435ffb547d7d59faa9224fe030934b" id="r_a66435ffb547d7d59faa9224fe030934b"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryThread.html#a66435ffb547d7d59faa9224fe030934b">OdometryThread</a> (<a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> *odometry, unsigned int dataBufferMaxSize=1)</td></tr>
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<tr class="memdesc:a66435ffb547d7d59faa9224fe030934b"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="separator:a66435ffb547d7d59faa9224fe030934b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_methods_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUThread')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
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<tr class="memitem:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread" id="r_a05a92f95e2a8900f27b09ddf907b97be"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a05a92f95e2a8900f27b09ddf907b97be">UThread</a> (<a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> priority=kPNormal)</td></tr>
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<tr class="separator:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread" id="r_a437580d224111e60cbe2626f0e4cb12e"><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a437580d224111e60cbe2626f0e4cb12e">~UThread</a> ()</td></tr>
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<tr class="separator:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread" id="r_a051e9adcf24f92b9c8e31acd06bad88c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a051e9adcf24f92b9c8e31acd06bad88c">start</a> ()</td></tr>
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<tr class="separator:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread" id="r_a8dfefcfd68b453da08ddba9836f35965"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a8dfefcfd68b453da08ddba9836f35965">kill</a> ()</td></tr>
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<tr class="separator:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread" id="r_acf33c0e4b656af76da100e7d4f69ed1d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#acf33c0e4b656af76da100e7d4f69ed1d">join</a> (bool killFirst=false)</td></tr>
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<tr class="separator:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a80418be3a80a01ddd05a863b58787b43 inherit pub_methods_classUThread" id="r_a80418be3a80a01ddd05a863b58787b43"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a80418be3a80a01ddd05a863b58787b43">setPriority</a> (<a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> priority)</td></tr>
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<tr class="separator:a80418be3a80a01ddd05a863b58787b43 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aabcf31acae6ca5b8503ec320acbc11f8 inherit pub_methods_classUThread" id="r_aabcf31acae6ca5b8503ec320acbc11f8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#aabcf31acae6ca5b8503ec320acbc11f8">setAffinity</a> (int cpu=0)</td></tr>
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<tr class="separator:aabcf31acae6ca5b8503ec320acbc11f8 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac80eff7d48382fd230141ca286370d33 inherit pub_methods_classUThread" id="r_ac80eff7d48382fd230141ca286370d33"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#ac80eff7d48382fd230141ca286370d33">isCreating</a> () const</td></tr>
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<tr class="separator:ac80eff7d48382fd230141ca286370d33 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a38e2b22f0616ed4128312baff9cfeba9 inherit pub_methods_classUThread" id="r_a38e2b22f0616ed4128312baff9cfeba9"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a38e2b22f0616ed4128312baff9cfeba9">isRunning</a> () const</td></tr>
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<tr class="separator:a38e2b22f0616ed4128312baff9cfeba9 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2c4554ad881c0532239a0930c2ebfe24 inherit pub_methods_classUThread" id="r_a2c4554ad881c0532239a0930c2ebfe24"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a2c4554ad881c0532239a0930c2ebfe24">isIdle</a> () const</td></tr>
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<tr class="separator:a2c4554ad881c0532239a0930c2ebfe24 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3a0d0de0f78eab72512941ccd048477b inherit pub_methods_classUThread" id="r_a3a0d0de0f78eab72512941ccd048477b"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a3a0d0de0f78eab72512941ccd048477b">isKilled</a> () const</td></tr>
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<tr class="separator:a3a0d0de0f78eab72512941ccd048477b inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4f404f03046fa89dced06514f040b2af inherit pub_methods_classUThread" id="r_a4f404f03046fa89dced06514f040b2af"><td class="memItemLeft" align="right" valign="top">Handle </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a4f404f03046fa89dced06514f040b2af">getThreadHandle</a> () const</td></tr>
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<tr class="separator:a4f404f03046fa89dced06514f040b2af inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a40e8ea82c06ed20bb6266a6a42a8f51f inherit pub_methods_classUThread" id="r_a40e8ea82c06ed20bb6266a6a42a8f51f"><td class="memItemLeft" align="right" valign="top">unsigned long </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a40e8ea82c06ed20bb6266a6a42a8f51f">getThreadId</a> () const</td></tr>
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<tr class="separator:a40e8ea82c06ed20bb6266a6a42a8f51f inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC< void ></a></td></tr>
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<tr class="memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a724a5919ea1f1e74b69a9073d532e400"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400">Create</a> (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const</td></tr>
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<tr class="separator:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a5af5c76be4b8e6b746a77146a3d7021a"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5af5c76be4b8e6b746a77146a3d7021a">Create</a> (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</td></tr>
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<tr class="separator:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a724a5919ea1f1e74b69a9073d532e400"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400">Create</a> (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const</td></tr>
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<tr class="separator:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a5af5c76be4b8e6b746a77146a3d7021a"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5af5c76be4b8e6b746a77146a3d7021a">Create</a> (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</td></tr>
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<tr class="separator:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_methods_classUEventsHandler"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUEventsHandler')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classUEventsHandler.html">UEventsHandler</a></td></tr>
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<tr class="memitem:a425f7af2882c980044a310e68ab13877 inherit pub_methods_classUEventsHandler" id="r_a425f7af2882c980044a310e68ab13877"><td class="memItemLeft" align="right" valign="top">
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void </td><td class="memItemRight" valign="bottom"><b>registerToEventsManager</b> ()</td></tr>
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<tr class="separator:a425f7af2882c980044a310e68ab13877 inherit pub_methods_classUEventsHandler"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa83926b16066f18dcae9d55997fa11ba inherit pub_methods_classUEventsHandler" id="r_aa83926b16066f18dcae9d55997fa11ba"><td class="memItemLeft" align="right" valign="top">
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void </td><td class="memItemRight" valign="bottom"><b>unregisterFromEventsManager</b> ()</td></tr>
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<tr class="separator:aa83926b16066f18dcae9d55997fa11ba inherit pub_methods_classUEventsHandler"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
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Protected Member Functions</h2></td></tr>
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<tr class="memitem:a65808dd7148c1e2c49dcf90ef718b5a8" id="r_a65808dd7148c1e2c49dcf90ef718b5a8"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">handleEvent</a> (<a class="el" href="classUEvent.html">UEvent</a> *event)</td></tr>
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<tr class="memdesc:a65808dd7148c1e2c49dcf90ef718b5a8"><td class="mdescLeft"> </td><td class="mdescRight">Receives the events listed in the class description. <br /></td></tr>
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<tr class="separator:a65808dd7148c1e2c49dcf90ef718b5a8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pro_methods_classUEventsHandler"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classUEventsHandler')"><img src="closed.png" alt="-"/> Protected Member Functions inherited from <a class="el" href="classUEventsHandler.html">UEventsHandler</a></td></tr>
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<tr class="memitem:abfe2ba3d1fb92e59aff1978cbc21d134 inherit pro_methods_classUEventsHandler" id="r_abfe2ba3d1fb92e59aff1978cbc21d134"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classUEventsHandler.html#abfe2ba3d1fb92e59aff1978cbc21d134">UEventsHandler</a> ()</td></tr>
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<tr class="separator:abfe2ba3d1fb92e59aff1978cbc21d134 inherit pro_methods_classUEventsHandler"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a15ac2bf243e938c411fac0dff7db2f51 inherit pro_methods_classUEventsHandler" id="r_a15ac2bf243e938c411fac0dff7db2f51"><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classUEventsHandler.html#a15ac2bf243e938c411fac0dff7db2f51">~UEventsHandler</a> ()</td></tr>
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<tr class="separator:a15ac2bf243e938c411fac0dff7db2f51 inherit pro_methods_classUEventsHandler"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pro_methods_classUEventsSender"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classUEventsSender')"><img src="closed.png" alt="-"/> Protected Member Functions inherited from <a class="el" href="classUEventsSender.html">UEventsSender</a></td></tr>
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<tr class="memitem:ab03886c42164f2f9bf89fd3da641526f inherit pro_methods_classUEventsSender" id="r_ab03886c42164f2f9bf89fd3da641526f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUEventsSender.html#ab03886c42164f2f9bf89fd3da641526f">post</a> (<a class="el" href="classUEvent.html">UEvent</a> *event, bool async=true) const</td></tr>
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<tr class="separator:ab03886c42164f2f9bf89fd3da641526f inherit pro_methods_classUEventsSender"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
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Additional Inherited Members</h2></td></tr>
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<tr class="inherit_header pub_types_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classUThread')"><img src="closed.png" alt="-"/> Public Types inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
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<tr class="memitem:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread" id="r_a731ef4dd5a8d15abcc06e7cfa53cd153"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> { <br />
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  <b>kPLow</b>
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, <b>kPBelowNormal</b>
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, <b>kPNormal</b>
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, <b>kPAboveNormal</b>
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, <br />
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  <b>kPRealTime</b>
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<br />
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}</td></tr>
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<tr class="separator:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_types_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/> Public Types inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC< void ></a></td></tr>
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<tr class="memitem:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" id="r_a0ffb19a834ba3271ed3c9f650f119664"><td class="memItemLeft" align="right" valign="top">typedef THREAD_HANDLE </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a0ffb19a834ba3271ed3c9f650f119664">Handle</a></td></tr>
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<tr class="separator:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" id="r_a14b685cdf9b6529a5e31f0f021c4cfd9"><td class="memItemLeft" align="right" valign="top">typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a14b685cdf9b6529a5e31f0f021c4cfd9">Handler</a>) ()</td></tr>
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<tr class="separator:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" id="r_a0ffb19a834ba3271ed3c9f650f119664"><td class="memItemLeft" align="right" valign="top">typedef THREAD_HANDLE </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a0ffb19a834ba3271ed3c9f650f119664">Handle</a></td></tr>
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<tr class="separator:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" id="r_a14b685cdf9b6529a5e31f0f021c4cfd9"><td class="memItemLeft" align="right" valign="top">typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a14b685cdf9b6529a5e31f0f021c4cfd9">Handler</a>) ()</td></tr>
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<tr class="separator:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_static_methods_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classUThread')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
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<tr class="memitem:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread" id="r_a6fa5e2358a86c5185371fd14305021aa"><td class="memItemLeft" align="right" valign="top">static unsigned long </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a6fa5e2358a86c5185371fd14305021aa">currentThreadId</a> ()</td></tr>
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<tr class="separator:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_static_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC< void ></a></td></tr>
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<tr class="memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a17eb99ec0990246c0c7161e6bec84c74"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74">Create</a> (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)</td></tr>
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<tr class="separator:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1584a3a80d86181ff66784cf0f8c2392 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a1584a3a80d86181ff66784cf0f8c2392"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a1584a3a80d86181ff66784cf0f8c2392">Join</a> (Handle H)</td></tr>
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<tr class="separator:a1584a3a80d86181ff66784cf0f8c2392 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aec2af3352538bb8e45916c468e6960dc inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_aec2af3352538bb8e45916c468e6960dc"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#aec2af3352538bb8e45916c468e6960dc">Kill</a> (Handle H)</td></tr>
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<tr class="separator:aec2af3352538bb8e45916c468e6960dc inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a591f5bfcea463cfaa2249bbcdd3ab522 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a591f5bfcea463cfaa2249bbcdd3ab522"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a591f5bfcea463cfaa2249bbcdd3ab522">Detach</a> (Handle H)</td></tr>
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<tr class="separator:a591f5bfcea463cfaa2249bbcdd3ab522 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a17eb99ec0990246c0c7161e6bec84c74"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74">Create</a> (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)</td></tr>
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<tr class="separator:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1d704989d9a19f552ac0387c143cad95 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a1d704989d9a19f552ac0387c143cad95"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a1d704989d9a19f552ac0387c143cad95">Join</a> (const Handle &H)</td></tr>
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<tr class="separator:a1d704989d9a19f552ac0387c143cad95 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a4a83aaa66db8ee6f07482130091690e3"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a4a83aaa66db8ee6f07482130091690e3">Kill</a> (const Handle &H)</td></tr>
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<tr class="separator:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a094155ec7163e19480ed2181ef8032ed"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a094155ec7163e19480ed2181ef8032ed">Detach</a> (const Handle &H)</td></tr>
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<tr class="separator:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pro_static_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pro_static_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/> Static Protected Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC< void ></a></td></tr>
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<tr class="memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_afc1715cfa1d5ae88f57ba2fe983bb9e5"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5">Exit</a> ()</td></tr>
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<tr class="separator:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_a5dc3a0223030adcc0c6e3ef829efc824"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824">TestCancel</a> ()</td></tr>
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<tr class="separator:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_a33cd70cb0291ebd0a95016e89b4d5b6c"><td class="memItemLeft" align="right" valign="top">static Handle </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a33cd70cb0291ebd0a95016e89b4d5b6c">Self</a> ()</td></tr>
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<tr class="separator:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_afc1715cfa1d5ae88f57ba2fe983bb9e5"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5">Exit</a> ()</td></tr>
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<tr class="separator:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_a5dc3a0223030adcc0c6e3ef829efc824"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824">TestCancel</a> ()</td></tr>
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<tr class="separator:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afed28b5b5bb00d4addbb0cd7f2ce0ce2 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_afed28b5b5bb00d4addbb0cd7f2ce0ce2"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#afed28b5b5bb00d4addbb0cd7f2ce0ce2">Self</a> ()</td></tr>
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<tr class="separator:afed28b5b5bb00d4addbb0cd7f2ce0ce2 inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>Runs an <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> front-end in its own thread, driven by events. </p>
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<p>The thread owns the <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> object and calls <a class="el" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">Odometry::process()</a> on the frames it receives, so that a slow odometry update does not block the sensor thread. It sits in the middle of the event-based pipeline: <a class="el" href="classrtabmap_1_1SensorCaptureThread.html">SensorCaptureThread</a> → <a class="el" href="classrtabmap_1_1OdometryThread.html" title="Runs an Odometry front-end in its own thread, driven by events.">OdometryThread</a> → <a class="el" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a>.</p>
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<p><b>Input events</b> (handled in <a class="el" href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">handleEvent()</a>, i.e. in the caller's thread):</p><ul>
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<li><a class="el" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> — a frame to process. It is rejected with an error if it carries neither a laser scan nor an image with its calibration (an <a class="el" href="classrtabmap_1_1OdometryMono.html">OdometryMono</a> front-end accepts RGB alone).</li>
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<li><a class="el" href="classrtabmap_1_1IMUEvent.html">IMUEvent</a> — an <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> sample, kept in a separate buffer.</li>
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<li><a class="el" href="classrtabmap_1_1OdometryResetEvent.html">OdometryResetEvent</a> — resets the odometry to the pose it carries (identity if null) and drops everything buffered. Unlike the others, it is handled even before the thread is started.</li>
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</ul>
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<p><b>Output event</b>: one <a class="el" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> per processed frame, carrying the data, the integrated pose and the <a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a>. A null pose means odometry is lost; that is what <a class="el" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a> reads to start a new map.</p>
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<p><b>Buffering.</b> The frame buffer holds <code>dataBufferMaxSize</code> frames and drops the oldest when full, so with the default size of 1 the odometry always works on the freshest frame rather than falling behind. <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> samples are buffered apart and fed to the odometry up to the stamp of the frame about to be processed, so that tightly-coupled back-ends see them in order. A frame whose stamp falls outside the buffered <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> window is skipped with a warning: with an asynchronous <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>, it must be published faster (less delay) than the camera or lidar.</p>
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<p>When the incoming <a class="el" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> already carries an odometry pose (a robot publishing its own odometry), the motion between two consecutive such poses is passed to <a class="el" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">Odometry::process()</a> as a guess.</p>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> </dd>
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<a class="el" href="classrtabmap_1_1RtabmapThread.html" title="Runs a Rtabmap instance in its own thread, driven by events.">RtabmapThread</a> </dd>
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<a class="el" href="classrtabmap_1_1SensorCaptureThread.html" title="Thread-based sensor data capture and event posting for RTAB-Map.">SensorCaptureThread</a> </dd></dl>
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<p class="definition">Definition at line <a class="el" href="OdometryThread_8h_source.html#l00080">80</a> of file <a class="el" href="OdometryThread_8h_source.html">OdometryThread.h</a>.</p>
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</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a66435ffb547d7d59faa9224fe030934b">◆ </a></span>OdometryThread()</h2>
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<td class="memname">rtabmap::OdometryThread::OdometryThread </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> * </td>
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<td class="paramname"><em>odometry</em>, </td>
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<td class="paramtype">unsigned int </td>
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<td class="paramname"><em>dataBufferMaxSize</em> = <code>1</code> </td>
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<p>Constructor. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">odometry</td><td>The odometry to run; must not be null. The thread takes ownership and deletes it in the destructor. </td></tr>
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<tr><td class="paramname">dataBufferMaxSize</td><td>Maximum number of frames waiting to be processed (0 = unlimited). Beyond that the oldest frame is dropped, keeping the odometry on recent data. </td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a65808dd7148c1e2c49dcf90ef718b5a8">◆ </a></span>handleEvent()</h2>
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<td class="memname">virtual bool rtabmap::OdometryThread::handleEvent </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="classUEvent.html">UEvent</a> * </td>
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<p>Receives the events listed in the class description. </p>
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<p>Runs in the posting thread: frames and <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> samples are only buffered here, the odometry itself runs in the thread's main loop. Data events are ignored until the thread is started, an <a class="el" href="classrtabmap_1_1OdometryResetEvent.html">OdometryResetEvent</a> is not.</p>
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<dl class="section return"><dt>Returns</dt><dd>Always false, so the event keeps being dispatched to other handlers. </dd></dl>
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<p>Implements <a class="el" href="classUEventsHandler.html#a0d43b582c19f01196a513f66d3618d8d">UEventsHandler</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
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<li>corelib/include/rtabmap/core/<a class="el" href="OdometryThread_8h_source.html">OdometryThread.h</a></li>
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