Class VIMission¶
Defined in File vi-mission.h
Inheritance Relationships¶
Base Type¶
public vi_map::Mission
(Class Mission)
Class Documentation¶
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class vi_map::VIMission : public vi_map::Mission¶
Public Functions
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VIMission()¶
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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.
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void setOrdering(int ordering)¶
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int getOrdering() const¶
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bool hasNCamera() const¶
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bool hasImu() const¶
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bool hasLidar() const¶
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bool hasOdometry6DoFSensor() const¶
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bool hasLoopClosureSensor() const¶
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bool hasAbsolute6DoFSensor() const¶
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bool hasWheelOdometrySensor() const¶
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void serialize(vi_map::proto::Mission *proto) const¶
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void deserialize(const vi_map::MissionId &mission_id, const vi_map::proto::Mission &proto)¶
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void getAllMissionResourceIds(const backend::ResourceType &type, backend::ResourceIdSet *resource_ids) const¶
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void addMissionResourceId(const backend::ResourceId &resource_id, const backend::ResourceType &type)¶
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void deleteMissionResourceId(const backend::ResourceId &resource_id, const backend::ResourceType &type)¶
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bool hasSensorResource(const backend::ResourceType &type) const¶
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bool hasSensorResourceId(const backend::ResourceType &type, const aslam::SensorId &sensor_id, const int64_t timestamp_ns) const¶
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bool getSensorResourceId(const backend::ResourceType &type, const aslam::SensorId &sensor_id, const int64_t timestamp_ns, backend::ResourceId *resource_id) const¶
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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¶
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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¶
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const std::unordered_map<backend::ResourceType, typename std::unordered_map<aslam::SensorId, backend::TemporalResourceIdBuffer>, backend::ResourceTypeHash> &getAllSensorResourceIds() const¶
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std::unordered_map<backend::ResourceType, typename std::unordered_map<aslam::SensorId, backend::TemporalResourceIdBuffer>, backend::ResourceTypeHash> &getAllSensorResourceIds()¶
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const backend::TemporalResourceIdBuffer *getAllSensorResourceIdsForSensorOfType(const backend::ResourceType &type, const aslam::SensorId &sensor_id) const¶
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void addSensorResourceId(const backend::ResourceType &type, const aslam::SensorId &sensor_id, const backend::ResourceId &resource_id, const int64_t timestamp_ns)¶
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bool deleteSensorResourceId(const backend::ResourceType &type, const aslam::SensorId &sensor_id, const int64_t timestamp_ns)¶
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backend::TemporalResourceIdBuffer *getAllSensorResourceIdsForSensorOfTypeMutable(const backend::ResourceType &type, const aslam::SensorId &sensor_id)¶
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const std::unordered_map<aslam::SensorId, backend::TemporalResourceIdBuffer> *getAllSensorResourceIdsOfType(const backend::ResourceType &type) const¶
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std::unordered_map<aslam::SensorId, backend::TemporalResourceIdBuffer> *getAllSensorResourceIdsOfTypeMutable(const backend::ResourceType &type)¶
Public Members
- VIMission
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VIMission()¶