Class VIMission¶

Defined in File vi-mission.h

Inheritance Relationships¶

Base Type¶

public vi_map::Mission (Class Mission)

Class Documentation¶

class vi_map::VIMission : public vi_map::Mission ¶

Public Functions

VIMission()¶

VIMission(const MissionId &mission_id, const MissionBaseFrameId &mission_base_frame_id, BackBone backbone_type)¶

Create a new Mission.

It does not set the mission root vertex id, so make sure to set this using mission->setRootVertexId(id) once the first vertex is created.

explicit VIMission(const VIMission &other)¶

inline bool operator==(const VIMission &lhs) const¶

inline bool operator!=(const VIMission &lhs) const¶

void setOrdering(int ordering)¶

int getOrdering() const¶

void setNCameraId(const aslam::SensorId &ncamera_id)¶

void setImuId(const aslam::SensorId &imu_id)¶

void setLidarId(const aslam::SensorId &lidar_id)¶

void setOdometry6DoFSensor(const aslam::SensorId &odometry_6dof_id)¶

void setLoopClosureSensor(const aslam::SensorId &loop_closure_id)¶

void setAbsolute6DoFSensor(const aslam::SensorId &absolute_6dof_id)¶

void setWheelOdometrySensor(const aslam::SensorId &absolute_6dof_id)¶

const aslam::SensorId &getNCameraId() const¶

const aslam::SensorId &getImuId() const¶

const aslam::SensorId &getLidarId() const¶

const aslam::SensorId &getOdometry6DoFSensor() const¶

const aslam::SensorId &getLoopClosureSensor() const¶

const aslam::SensorId &getAbsolute6DoFSensor() const¶

const aslam::SensorId &getWheelOdometrySensor() const¶

bool hasNCamera() const¶

bool hasImu() const¶

bool hasLidar() const¶

bool hasOdometry6DoFSensor() const¶

bool hasLoopClosureSensor() const¶

bool hasAbsolute6DoFSensor() const¶

bool hasWheelOdometrySensor() const¶

void serialize(vi_map::proto::Mission *proto) const¶

void deserialize(const vi_map::MissionId &mission_id, const vi_map::proto::Mission &proto)¶

void getAllMissionResourceIds(const backend::ResourceType &type, backend::ResourceIdSet *resource_ids) const¶

void addMissionResourceId(const backend::ResourceId &resource_id, const backend::ResourceType &type)¶

void deleteMissionResourceId(const backend::ResourceId &resource_id, const backend::ResourceType &type)¶

bool hasSensorResource(const backend::ResourceType &type) const¶

bool hasSensorResourceId(const backend::ResourceType &type, const aslam::SensorId &sensor_id, const int64_t timestamp_ns) const¶

bool getSensorResourceId(const backend::ResourceType &type, const aslam::SensorId &sensor_id, const int64_t timestamp_ns, backend::ResourceId *resource_id) const¶

bool getClosestSensorResourceId(const backend::ResourceType &type, const aslam::SensorId &sensor_id, const int64_t timestamp_ns, const int64_t tolerance_ns, backend::StampedResourceId *stamped_resource_id) const¶

bool findAllCloseSensorResources(const backend::ResourceType &type, const int64_t timestamp_ns, const int64_t tolerance_ns, std::vector<aslam::SensorId> *sensor_ids, std::vector<int64_t> *closest_timestamps_ns) const¶

const std::unordered_map<backend::ResourceType, typename std::unordered_map<aslam::SensorId, backend::TemporalResourceIdBuffer>, backend::ResourceTypeHash> &getAllSensorResourceIds() const¶

std::unordered_map<backend::ResourceType, typename std::unordered_map<aslam::SensorId, backend::TemporalResourceIdBuffer>, backend::ResourceTypeHash> &getAllSensorResourceIds()¶

const backend::TemporalResourceIdBuffer *getAllSensorResourceIdsForSensorOfType(const backend::ResourceType &type, const aslam::SensorId &sensor_id) const¶

void addSensorResourceId(const backend::ResourceType &type, const aslam::SensorId &sensor_id, const backend::ResourceId &resource_id, const int64_t timestamp_ns)¶

bool deleteSensorResourceId(const backend::ResourceType &type, const aslam::SensorId &sensor_id, const int64_t timestamp_ns)¶

backend::TemporalResourceIdBuffer *getAllSensorResourceIdsForSensorOfTypeMutable(const backend::ResourceType &type, const aslam::SensorId &sensor_id)¶

const std::unordered_map<aslam::SensorId, backend::TemporalResourceIdBuffer> *getAllSensorResourceIdsOfType(const backend::ResourceType &type) const¶

std::unordered_map<aslam::SensorId, backend::TemporalResourceIdBuffer> *getAllSensorResourceIdsOfTypeMutable(const backend::ResourceType &type)¶

void mergeAllSensorResources(const vi_map::VIMission &other)¶

Public Members

VIMission