Class slamcore::MeasurementPointInterface

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

using clock_t = ClockT
using time_point = typename ClockT::time_point
using duration = typename ClockT::duration
using host_time_point = host_clock::time_point

Public Functions

virtual ~MeasurementPointInterface() = default
inline virtual IDT getID() const

[OPTIONAL] Measurement ID, can be just sample counter.

inline virtual SensorIDT getSensorID() const

[OPTIONAL] ID of the measurement source, for example sensor number.

inline virtual time_point getHWTimestamp() const

[OPTIONAL] Get the measurement acquisition timestamp (sensor HW clock).

inline virtual host_time_point getAcquisitionTimestamp() const

[OPTIONAL] Get the measurement acquisition timestamp (remote OS clock).

inline virtual host_time_point getSourceAcquisitionTimestamp() const

Get the acquisition timestamp of this measurement

virtual const ReferenceFrameInterface &getReferenceFrame() const = 0

Get the reference frame of a sample.