cartographer源码分析(10)-common-thread_pool.h

最新推荐文章于 2023-08-11 11:41:06 发布

slamcode

最新推荐文章于 2023-08-11 11:41:06 发布

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分类专栏： cartographer源码分析

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文件:common/thread_pool.h



#ifndef CARTOGRAPHER_COMMON_THREAD_POOL_H_
#define CARTOGRAPHER_COMMON_THREAD_POOL_H_

#include <deque>
#include <functional>
#include <thread>
#include <vector>

#include "cartographer/common/mutex.h"

namespace cartographer {
namespace common {

/*
ThreadPool 是对c++11 thread的封装.
ThreadPool是线程数量固定的线程池，不可拷贝 和复制.

1，构造函数ThreadPool(int num_threads) 初始化一个线程数量固定的线程池。
2，Schedule(std::function<void()> work_item)添加想要ThreadPool执行的函数,
   std::thread会在线程后台依次排队执行相关函数.
3，数据成员pool_是具体的线程，work_queue_是待执行的函数队列。


*/
// A fixed number of threads working on a work queue of work items. Adding a
// new work item does not block, and will be executed by a background thread
// eventually. The queue must be empty before calling the destructor. The thread