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Increased version 0.10.8: modified RtabmapGlobalPathEvent interface with label

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This commit is contained in:
matlabbe
2015-09-21 16:35:36 -04:00
parent 55834644cf
commit b6d2c6163e
4 changed files with 17 additions and 5 deletions
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CMakeLists.txt
+1 -1
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 10)
SET(RTABMAP_PATCH_VERSION 7)
SET(RTABMAP_PATCH_VERSION 8)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
corelib/include/rtabmap/core/RtabmapEvent.h
+6
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@@ -202,13 +202,19 @@ public:
RtabmapGlobalPathEvent(int goalId, const std::vector<std::pair<int, Transform> > & poses) :
UEvent(goalId),
_poses(poses) {}
RtabmapGlobalPathEvent(int goalId, const std::string & goalLabel, const std::vector<std::pair<int, Transform> > & poses) :
UEvent(goalId),
_goalLabel(goalLabel),
_poses(poses) {}
virtual ~RtabmapGlobalPathEvent() {}
int getGoal() const {return this->getCode();}
const std::string & getGoalLabel() const {return _goalLabel;}
const std::vector<std::pair<int, Transform> > & getPoses() const {return _poses;}
virtual std::string getClassName() const {return std::string("RtabmapGlobalPathEvent");}
private:
std::string _goalLabel;
std::vector<std::pair<int, Transform> > _poses;
};
corelib/src/RtabmapThread.cpp
+1 -1
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@@ -262,7 +262,7 @@ void RtabmapThread::mainLoop()
{
UERROR("Failed to set a goal to location=%d.", id);
}
this->post(new RtabmapGlobalPathEvent(id, _rtabmap->getPath()));
this->post(new RtabmapGlobalPathEvent(id, parameters.at("label"), _rtabmap->getPath()));
break;
case kStateCancellingGoal:
_rtabmap->clearPath();
guilib/src/MainWindow.cpp
+9 -3
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@@ -2182,11 +2182,13 @@ void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathE
QMessageBox * warn = new QMessageBox(
QMessageBox::Warning,
tr("Setting goal failed!"),
tr("Setting goal to location %1 failed. "
tr("Setting goal to location %1%2 failed. "
"Some reasons: \n"
"1) the location doesn't exist in the graph,\n"
"2) the location is not linked to the global graph or\n"
"3) the location is too near of the current location (goal already reached).").arg(event.getGoal()),
"3) the location is too near of the current location (goal already reached).")
.arg(event.getGoal())
.arg(!event.getGoalLabel().empty()?QString(" \"%1\"").arg(event.getGoalLabel().c_str()):""),
QMessageBox::Ok,
this);
warn->setAttribute(Qt::WA_DeleteOnClose, true);
@@ -2197,7 +2199,11 @@ void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathE
QMessageBox * info = new QMessageBox(
QMessageBox::Information,
tr("Goal detected!"),
tr("Global path computed from %1 to %2 (%3 poses, %4 m).").arg(event.getPoses().front().first).arg(event.getGoal()).arg(event.getPoses().size()).arg(graph::computePathLength(event.getPoses())),
tr("Global path computed to %1%2 (%3 poses, %4 m).")
.arg(event.getGoal())
.arg(!event.getGoalLabel().empty()?QString(" \"%1\"").arg(event.getGoalLabel().c_str()):"")
.arg(event.getPoses().size())
.arg(graph::computePathLength(event.getPoses())),
QMessageBox::Ok,
this);
info->setAttribute(Qt::WA_DeleteOnClose, true);