C++ (Cpp) ParametersMap::at Examples

Example #1

File: RtabmapThread.cpp Project: aballier/rtabmap

void RtabmapThread::mainLoop()
{
	State state = kStateDetecting;
	ParametersMap parameters;

	_stateMutex.lock();
	{
		if(!_state.empty() && !_stateParam.empty())
		{
			state = _state.top();
			_state.pop();
			parameters = _stateParam.top();
			_stateParam.pop();
		}
	}
	_stateMutex.unlock();

	switch(state)
	{
	case kStateDetecting:
		this->process();
		break;
	case kStateInit:
		UASSERT(!parameters.at("RtabmapThread/DatabasePath").empty());
		_rtabmap->init(parameters, parameters.at("RtabmapThread/DatabasePath"));
		break;
	case kStateChangingParameters:
		Parameters::parse(parameters, Parameters::kRtabmapImageBufferSize(), _dataBufferMaxSize);
		Parameters::parse(parameters, Parameters::kRtabmapDetectionRate(), _rate);
		UASSERT(_dataBufferMaxSize >= 0);
		UASSERT(_rate >= 0.0f);
		_rtabmap->parseParameters(parameters);
		break;
	case kStateReseting:
		_rtabmap->resetMemory();
		this->clearBufferedData();
		break;
	case kStateClose:
		if(_dataBuffer.size())
		{
			UWARN("Closing... %d data still buffered! They will be cleared.", (int)_dataBuffer.size());
			this->clearBufferedData();
		}
		_rtabmap->close();
		break;
	case kStateDumpingMemory:
		_rtabmap->dumpData();
		break;
	case kStateDumpingPrediction:
		_rtabmap->dumpPrediction();
		break;
	case kStateGeneratingDOTGraph:
		_rtabmap->generateDOTGraph(parameters.at("path"));
		break;
	case kStateGeneratingDOTLocalGraph:
		_rtabmap->generateDOTGraph(parameters.at("path"), atoi(parameters.at("id").c_str()), atoi(parameters.at("margin").c_str()));
		break;
	case kStateGeneratingTOROGraphLocal:
		_rtabmap->generateTOROGraph(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, false);
		break;
	case kStateGeneratingTOROGraphGlobal:
		_rtabmap->generateTOROGraph(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, true);
		break;
	case kStateCleanDataBuffer:
		this->clearBufferedData();
		break;
	case kStatePublishingMapLocal:
		this->publishMap(atoi(parameters.at("optimized").c_str())!=0, false);
		break;
	case kStatePublishingMapGlobal:
		this->publishMap(atoi(parameters.at("optimized").c_str())!=0, true);
		break;
	case kStatePublishingTOROGraphLocal:
		this->publishTOROGraph(atoi(parameters.at("optimized").c_str())!=0, false);
		break;
	case kStatePublishingTOROGraphGlobal:
		this->publishTOROGraph(atoi(parameters.at("optimized").c_str())!=0, true);
		break;
	case kStateTriggeringMap:
		_rtabmap->triggerNewMap();
		break;
	default:
		UFATAL("Invalid state !?!?");
		break;
	}
}