Class PoseLookupBuffer

Class Documentation

class vio_common::PoseLookupBuffer

Public Types

enum ResultStatus

Values:

enumerator kSuccessInterpolated
enumerator kSuccessImuForwardPropagation
enumerator kFailedNotYetAvailable
enumerator kFailedWillNeverSucceed

Public Functions

PoseLookupBuffer(int64_t pose_buffer_length_ns, int64_t max_allowed_propagation_time_ns)
ResultStatus getPoseAt(int64_t timestamp_ns, aslam::Transformation *T_M_I) const
ResultStatus getRotationBetween(const int64_t kp1_timestamp_ns, const int64_t k_timestamp_ns, aslam::Quaternion *q_Ikp1_Ik) const
ResultStatus interpolateViNodeStateAt(const int64_t timestamp_ns, vio::ViNodeState *interpolated_vinode) const
void bufferImuMeasurement(const vio::ImuMeasurement &imu)
void bufferOdometryEstimate(const vio::ViNodeState &estimate)
bool getTimeRangeOfAvailablePoses(int64_t *oldest_timestamp_ns, int64_t *newest_timestamp_ns) const
bool getNewestTimestampOfAvailablePose(int64_t *timestamp_ns) const
bool getOldestTimestampOfAvailablePose(int64_t *timestamp_ns) const
bool getValueAtOrAfterTime(int64_t timestamp_ns, vio::ViNodeState *vinode) const
const vio_common::ImuMeasurementBuffer &imu_buffer() const
vio_common::ImuMeasurementBuffer &imu_buffer_mutable()
void shutdown()