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
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VIMission
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