| 1481 | } |
| 1482 | |
| 1483 | void loopClosureThread() |
| 1484 | { |
| 1485 | if (loopClosureEnableFlag == false ) |
| 1486 | return; |
| 1487 | |
| 1488 | ros::Rate rate(loopClosureFrequency); |
| 1489 | while (ros::ok()) |
| 1490 | { |
| 1491 | rate.sleep(); |
| 1492 | if (!localizationMode) |
| 1493 | { |
| 1494 | performLoopClosure(); |
| 1495 | visualizeLoopClosure(); |
| 1496 | } |
| 1497 | |
| 1498 | } |
| 1499 | } |
| 1500 | |
| 1501 | |
| 1502 | void performLoopClosure() |
nothing calls this directly
no outgoing calls
no test coverage detected