Class slamcore::MeasurementPointInterface¶
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template<typename ClockT>
class slamcore::MeasurementPointInterface¶ Common interface for measurement data (e.g. images or IMU samples).
Subclassed by PoseInterface< ClockT >, VelocityInterface< ClockT >
Public Types
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using host_time_point = host_clock::time_point¶
Public Functions
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virtual ~MeasurementPointInterface() = default¶
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inline virtual SensorIDT getSensorID() const¶
[OPTIONAL] ID of the measurement source, for example sensor number.
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inline virtual time_point getHWTimestamp() const¶
[OPTIONAL] Get the measurement acquisition timestamp (sensor HW clock).
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inline virtual host_time_point getAcquisitionTimestamp() const¶
[OPTIONAL] Get the measurement acquisition timestamp (remote OS clock).
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inline virtual host_time_point getSourceAcquisitionTimestamp() const¶
Get the acquisition timestamp of this measurement
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virtual const ReferenceFrameInterface &getReferenceFrame() const = 0¶
Get the reference frame of a sample.
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using host_time_point = host_clock::time_point¶