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Increased version 0.10.8: modified RtabmapGlobalPathEvent interface with label

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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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corelib/include/rtabmap/core/RtabmapEvent.h
+6
View File
@@ -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
View File
@@ -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();