Class VIMission

Inheritance Relationships

Base Type

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