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PoseExtrapolator::GetLastExtrapolatedTime (#626) 

This prepares the API for #623 and #616.
master
gaschler 2017-11-03 11:56:31 +01:00 committed by Wolfgang Hess
parent 9be15466d3
commit 5a3bb14083
2 changed files with 5 additions and 0 deletions
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4
cartographer/mapping/pose_extrapolator.cc
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@ -56,6 +56,10 @@ common::Time PoseExtrapolator::GetLastPoseTime() const {
return timed_pose_queue_.back().time; return timed_pose_queue_.back().time;
} }
common::Time PoseExtrapolator::GetLastExtrapolatedTime() const {
return GetLastPoseTime();
}
void PoseExtrapolator::AddPose(const common::Time time, void PoseExtrapolator::AddPose(const common::Time time,
const transform::Rigid3d& pose) { const transform::Rigid3d& pose) {
if (imu_tracker_ == nullptr) { if (imu_tracker_ == nullptr) {

1
cartographer/mapping/pose_extrapolator.h
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@ -47,6 +47,7 @@ class PoseExtrapolator {
// Returns the time of the last added pose or Time::min() if no pose was added // Returns the time of the last added pose or Time::min() if no pose was added
// yet. // yet.
common::Time GetLastPoseTime() const; common::Time GetLastPoseTime() const;
common::Time GetLastExtrapolatedTime() const;
void AddPose(common::Time time, const transform::Rigid3d& pose); void AddPose(common::Time time, const transform::Rigid3d& pose);
void AddImuData(const sensor::ImuData& imu_data); void AddImuData(const sensor::ImuData& imu_data);