67 lines
2.0 KiB
C++
67 lines
2.0 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_ODOMETRY_STATE_TRACKER_H_
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#define CARTOGRAPHER_MAPPING_ODOMETRY_STATE_TRACKER_H_
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#include <deque>
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#include "cartographer/common/time.h"
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#include "cartographer/transform/rigid_transform.h"
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namespace cartographer {
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namespace mapping {
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struct OdometryState {
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OdometryState(common::Time time, const transform::Rigid3d& odometer_pose,
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const transform::Rigid3d& state_pose);
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OdometryState() {}
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common::Time time = common::Time::min();
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transform::Rigid3d odometer_pose = transform::Rigid3d::Identity();
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transform::Rigid3d state_pose = transform::Rigid3d::Identity();
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};
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// Keeps track of the odometry states by keeping sliding window over some
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// number of them.
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class OdometryStateTracker {
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public:
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using OdometryStates = std::deque<OdometryState>;
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explicit OdometryStateTracker(int window_size);
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const OdometryStates& odometry_states() const;
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// Adds a new 'odometry_state' and makes sure the maximum number of previous
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// odometry states is not exceeded.
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void AddOdometryState(const OdometryState& odometry_state);
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// Returns true if no elements are present in the odometry queue.
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bool empty() const;
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// Retrieves the most recent OdometryState. Must not be called when empty.
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const OdometryState& newest() const;
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private:
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OdometryStates odometry_states_;
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size_t window_size_;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_ODOMETRY_STATE_TRACKER_H_
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