73 lines
2.5 KiB
C++
Executable File
73 lines
2.5 KiB
C++
Executable File
/*
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Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef ODOMETRYTHREAD_H_
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#define ODOMETRYTHREAD_H_
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#include <rtabmap/core/RtabmapExp.h>
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#include <rtabmap/core/SensorData.h>
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#include <rtabmap/utilite/UThread.h>
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#include <rtabmap/utilite/UEventsHandler.h>
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#include <list>
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namespace rtabmap {
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class Odometry;
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class RTABMAP_EXP OdometryThread : public UThread, public UEventsHandler {
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public:
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// take ownership of Odometry
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OdometryThread(Odometry * odometry, unsigned int dataBufferMaxSize = 1);
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virtual ~OdometryThread();
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protected:
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virtual void handleEvent(UEvent * event);
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private:
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void mainLoopKill();
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//============================================================
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// MAIN LOOP
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//============================================================
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void mainLoop();
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void addData(const SensorData & data);
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bool getData(SensorData & data);
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private:
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USemaphore _dataAdded;
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UMutex _dataMutex;
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std::list<SensorData> _dataBuffer;
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Odometry * _odometry;
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unsigned int _dataBufferMaxSize;
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bool _resetOdometry;
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};
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} // namespace rtabmap
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#endif /* ODOMETRYTHREAD_H_ */
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