rtabmap::RtabmapEventCmd Class Reference

Command sent to RtabmapThread, with its parameters. More...

#include <RtabmapEvent.h>

Inheritance diagram for rtabmap::RtabmapEventCmd:

Collaboration diagram for rtabmap::RtabmapEventCmd:

Public Types
enum	dummy { d }
enum	Cmd {   kCmdUndef , kCmdInit , kCmdResetMemory , kCmdClose ,   kCmdUpdateParams , kCmdDumpMemory , kCmdDumpPrediction , kCmdGenerateDOTGraph ,   kCmdExportPoses , kCmdCleanDataBuffer , kCmdPublish3DMap , kCmdRepublishData ,   kCmdTriggerNewMap , kCmdPause , kCmdResume , kCmdGoal ,   kCmdCancelGoal , kCmdLabel , kCmdRemoveLabel }
	What the receiving RtabmapThread should do. More...

Public Member Functions
	RtabmapEventCmd (Cmd cmd, const ParametersMap &parameters=ParametersMap())
	RtabmapEventCmd (Cmd cmd, const UVariant &value1, const ParametersMap &parameters=ParametersMap())
	RtabmapEventCmd (Cmd cmd, const UVariant &value1, const UVariant &value2, const ParametersMap &parameters=ParametersMap())
	RtabmapEventCmd (Cmd cmd, const UVariant &value1, const UVariant &value2, const UVariant &value3, const ParametersMap &parameters=ParametersMap())
	RtabmapEventCmd (Cmd cmd, const UVariant &value1, const UVariant &value2, const UVariant &value3, const UVariant &value4, const ParametersMap &parameters=ParametersMap())
Cmd	getCmd () const
const UVariant &	value1 () const
const UVariant &	value2 () const
const UVariant &	value3 () const
const UVariant &	value4 () const
const ParametersMap &	getParameters () const
virtual std::string	getClassName () const
Public Member Functions inherited from UEvent
int	getCode () const

Additional Inherited Members
Protected Member Functions inherited from UEvent
	UEvent (int code=0)

Detailed Description

Command sent to RtabmapThread, with its parameters.

Posting one to UEventsManager is how the map is controlled from another thread: initializing or closing it, resetting the memory, requesting the graph, setting a goal, labelling a node... The arguments listed for each Cmd are passed as value1 / value2 to the constructor, and parameter maps through parameters.

Definition at line 67 of file RtabmapEvent.h.

Member Enumeration Documentation

dummy

enum rtabmap::RtabmapEventCmd::dummy

Definition at line 70 of file RtabmapEvent.h.

Cmd

enum rtabmap::RtabmapEventCmd::Cmd

What the receiving RtabmapThread should do.

Enumerator
kCmdUndef	No command.
kCmdInit	Initialize the map. Params: [string] database path + ParametersMap.
kCmdResetMemory	Clear the map and start over from an empty memory.
kCmdClose	Close the map. Params: [bool] database saved (default true), [string] output database path (empty=use same database to save, only work when Db/Sqlite3InMemory=true).
kCmdUpdateParams	Apply new parameters. Params: ParametersMap.
kCmdDumpMemory	Dump the memory content to text files in the working directory.
kCmdDumpPrediction	Dump the Bayes filter prediction matrix to a text file.
kCmdGenerateDOTGraph	Write the graph as a DOT file. Params: [bool] global, [string] path, if global=false: [int] id, [int] margin.
kCmdExportPoses	Export the poses to a file. Params: [bool] global, [bool] optimized, [string] path, [int] type (0=raw format, 1=RGBD-SLAM format, 2=KITTI format, 3=TORO, 4=g2o).
kCmdCleanDataBuffer	Drop the frames waiting in the thread's buffer.
kCmdPublish3DMap	Ask for the map, answered with a RtabmapEvent3DMap. Params: [bool] global, [bool] optimized, [bool] graphOnly.
kCmdRepublishData	Republish the data of some nodes. Params: [vector<int>] ids.
kCmdTriggerNewMap	Start a new map session (see Rtabmap::triggerNewMap()).
kCmdPause	Stop consuming incoming data.
kCmdResume	Resume after a kCmdPause.
kCmdGoal	Plan a path to a node. Params: [string] label or [int] location ID.
kCmdCancelGoal	Abandon the current goal.
kCmdLabel	Label a node. Params: [string] label, [int] location ID.
kCmdRemoveLabel	Remove a label. Params: [string] label.

Definition at line 72 of file RtabmapEvent.h.

Constructor & Destructor Documentation

RtabmapEventCmd() [1/5]

rtabmap::RtabmapEventCmd::RtabmapEventCmd ( Cmd  cmd, const ParametersMap &  parameters = ParametersMap()  )

inline

Definition at line 94 of file RtabmapEvent.h.

RtabmapEventCmd() [2/5]

rtabmap::RtabmapEventCmd::RtabmapEventCmd ( Cmd  cmd, const UVariant &  value1, const ParametersMap &  parameters = ParametersMap()  )

inline

Definition at line 98 of file RtabmapEvent.h.

RtabmapEventCmd() [3/5]

rtabmap::RtabmapEventCmd::RtabmapEventCmd ( Cmd  cmd, const UVariant &  value1, const UVariant &  value2, const ParametersMap &  parameters = ParametersMap()  )

inline

Definition at line 103 of file RtabmapEvent.h.

RtabmapEventCmd() [4/5]

rtabmap::RtabmapEventCmd::RtabmapEventCmd ( Cmd  cmd, const UVariant &  value1, const UVariant &  value2, const UVariant &  value3, const ParametersMap &  parameters = ParametersMap()  )

inline

Definition at line 109 of file RtabmapEvent.h.

RtabmapEventCmd() [5/5]

rtabmap::RtabmapEventCmd::RtabmapEventCmd ( Cmd  cmd, const UVariant &  value1, const UVariant &  value2, const UVariant &  value3, const UVariant &  value4, const ParametersMap &  parameters = ParametersMap()  )

inline

Definition at line 116 of file RtabmapEvent.h.

~RtabmapEventCmd()

virtual rtabmap::RtabmapEventCmd::~RtabmapEventCmd ( )

inlinevirtual

Definition at line 125 of file RtabmapEvent.h.

Member Function Documentation

getCmd()

Cmd rtabmap::RtabmapEventCmd::getCmd ( ) const

inline

Definition at line 126 of file RtabmapEvent.h.

value1()

const UVariant & rtabmap::RtabmapEventCmd::value1 ( ) const

inline

Definition at line 128 of file RtabmapEvent.h.

value2()

const UVariant & rtabmap::RtabmapEventCmd::value2 ( ) const

inline

Definition at line 129 of file RtabmapEvent.h.

value3()

const UVariant & rtabmap::RtabmapEventCmd::value3 ( ) const

inline

Definition at line 130 of file RtabmapEvent.h.

value4()

const UVariant & rtabmap::RtabmapEventCmd::value4 ( ) const

inline

Definition at line 131 of file RtabmapEvent.h.

getParameters()

const ParametersMap & rtabmap::RtabmapEventCmd::getParameters ( ) const

inline

Definition at line 133 of file RtabmapEvent.h.

getClassName()

virtual std::string rtabmap::RtabmapEventCmd::getClassName ( ) const

inlinevirtual

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns

the class name

Implements UEvent.

Definition at line 135 of file RtabmapEvent.h.

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

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