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File subsystems.hpp

Core API subsystems.

Includes the majority of the subsystems that are used when using the SLAMcore API. Along with their definition, we define load_minimal, save_minimal helper functions as well as the operator<< for storing/dumping their types.

Note

Notice that the majority of the classes are suffixed with *Interface. That’s because when you get access to the corresponding instance, you do via a pointer type (namely std::shared_ptr or the class member aliases Ptr, CPtr) and not through the actual class instance.

Helper functions for slamcore::SubsystemType

template<class Archive>
static inline void load_minimal(const Archive&, SubsystemType &obj, const std::string &value)

template<class Archive>
static inline std::string save_minimal(const Archive&, const SubsystemType &obj)

static inline std::ostream &operator<<(std::ostream &os, const SubsystemType obj)

Enums

enum class SubsystemType : EnumBaseT

Subsystem types. For every one of these enum cases there is a corresponding <enum-name>Interface class.

Values:

enumerator CameraSensorsInfo

enumerator MobileRobot

enumerator HeightMapping

enumerator Trajectory

enumerator Count

namespace slamcore

Main namespace for the SLAMcore public API

Client-library related getter methods

Get information about the client library

Helper functions for slamcore::SubsystemType

template<class Archive>
static inline void load_minimal(const Archive&, SubsystemType &obj, const std::string &value)

template<class Archive>
static inline std::string save_minimal(const Archive&, const SubsystemType &obj)

static inline std::ostream &operator<<(std::ostream &os, const SubsystemType obj)

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerPixel

Enums

enum class SubsystemType : EnumBaseT

Subsystem types. For every one of these enum cases there is a corresponding <enum-name>Interface class.

Values:

enumerator CameraSensorsInfo

enumerator MobileRobot

enumerator HeightMapping

enumerator Trajectory

enumerator Count

class CameraSensorsInfoInterface : public SubsystemInterface

#include <subsystems.hpp>

Subsystem to access factory camera calibration.

Public Types

using Ptr = std::shared_ptr<CameraSensorsInfoInterface>

using CPtr = std::shared_ptr<const CameraSensorsInfoInterface>

Public Functions

inline virtual SubsystemType type() const

Type of the object.

virtual ~CameraSensorsInfoInterface() = default

virtual std::vector<SensorIDT> getCameraList() const = 0

Return the IDs for camera sensors in the system.

virtual Vector getCameraSensorSize(const SensorIDT sid) const = 0

Get camera sensor image dimensions.

virtual ImageFormat getCameraImageFormat(const SensorIDT sid) const = 0

Get camera sensor image format.

virtual Vector getCameraFactoryFocalLength(const SensorIDT sid) const = 0

Get camera sensor focal length (factory).

virtual Vector getCameraFactoryPrincipalPoint(const SensorIDT sid) const = 0

Get camera sensor principal point (factory).

virtual std::string getCameraFactoryDistortionModel(const SensorIDT sid) const = 0

Get camera sensor distortion model (factory).

virtual Vector getCameraFactoryDistortionParams(const SensorIDT sid) const = 0

Get camera sensor distortion coefficients (factory).

virtual Matrix getCameraFactoryTSC(const SensorIDT sid) const = 0

Get camera sensor to IMU transformation (factory).

Public Static Attributes

static constexpr SubsystemType Type = SubsystemType::CameraSensorsInfo

class HeightMappingSubsystemInterface : public SubsystemInterface

#include <subsystems.hpp>

Subsystem for accessing height maps.

Public Types

using Ptr = std::shared_ptr<HeightMappingSubsystemInterface>

using CPtr = std::shared_ptr<const HeightMappingSubsystemInterface>

Public Functions

inline virtual SubsystemType type() const

Type of the object.

virtual ~HeightMappingSubsystemInterface() = default

template<typename _Rep = int64_t, typename _Period = std::ratio<1>>
inline bool fetch(const std::chrono::duration<_Rep, _Period> &timeout = std::chrono::seconds(0))

Update the internal state with the most recent data.

virtual std::shared_ptr<const Map2DInterface> get() const = 0

Get the map data.

Public Static Attributes

static constexpr SubsystemType Type = SubsystemType::HeightMapping

Protected Functions

virtual bool fetchImpl(const std::chrono::milliseconds timeout_ms) = 0

class MobileRobotSubsystemInterface : public SubsystemInterface

#include <subsystems.hpp>

Subsystem for feeding mobile robots wheel odometry.

Public Types

using Ptr = std::shared_ptr<MobileRobotSubsystemInterface>

using CPtr = std::shared_ptr<const MobileRobotSubsystemInterface>

Public Functions

inline virtual SubsystemType type() const

Type of the object.

virtual ~MobileRobotSubsystemInterface() = default

virtual std::error_code feedOdometry(const PoseInterface<odometry_clock>::CPtr wo) = 0

Feed wheel odometry from an external source.

Public Static Attributes

static constexpr SubsystemType Type = SubsystemType::MobileRobot

class SubsystemInterface

#include <subsystems.hpp>

Common interface for all the objects - enables runtime polymorphism.

Subclassed by CameraSensorsInfoInterface, HeightMappingSubsystemInterface, MobileRobotSubsystemInterface, TrajectorySubsystemInterface

Public Types

using Ptr = std::shared_ptr<SubsystemInterface>

using CPtr = std::shared_ptr<const SubsystemInterface>

Public Functions

virtual ~SubsystemInterface() = default

inline virtual SubsystemType type() const

Type of the object.

Protected Functions

inline SubsystemInterface()

class TrajectorySubsystemInterface : public SubsystemInterface

#include <subsystems.hpp>

Subsystem for accessing trajectories.

A common way of using this subsystem would be as follows:

// Get subsystem from the SLAM system
const auto subsystem = slam->getSubsystem<slamcore::TrajectorySubsystemInterface>();

// Fetch most recent trajectories
subsystem->fetch();

// You can retrieve some data
const auto unoptimisedTrajectory = subsystem->getUnoptimisedTrajectory();
const auto optimisedTrajectory = subsystem->getOptimisedTrajectory();
const auto trackingStatus = subsystem->getTrackingStatus();

// Or you can write the trajectories as csv files to an output directory
subsystem->write("trajectories");

Note

There are some positioning modes where the optimised trajectory is not produced. In these cases, getOptimisedTrajectory will return nullptr.

Note

Not thread safe.

Public Types

using Ptr = std::shared_ptr<TrajectorySubsystemInterface>

using CPtr = std::shared_ptr<const TrajectorySubsystemInterface>

Public Functions

inline virtual SubsystemType type() const

Type of the object.

virtual ~TrajectorySubsystemInterface() = default

template<typename _Rep = int64_t, typename _Period = std::ratio<1>>
inline bool fetch(const std::chrono::duration<_Rep, _Period> &timeout = std::chrono::seconds(0))

Update the internal state with the most recent data.

virtual std::shared_ptr<const PoseListInterface<camera_clock>> getUnoptimisedTrajectory() const = 0

Get Unoptimised Trajectory.

virtual std::shared_ptr<const TrackingStatusListInterface> getTrackingStatus() const = 0

Get Tracking Status.

virtual std::shared_ptr<const PoseListInterface<camera_clock>> getOptimisedTrajectory() const = 0

Get Optimised Trajectory.

Note

For some positioning modes this can return nullptr

virtual TrajectoryPaths write(const std::string &outputDirectory) const = 0

Write trajectories as csv files in given output directory.

Public Static Attributes

static constexpr SubsystemType Type = SubsystemType::Trajectory

Protected Functions

virtual bool fetchImpl(const std::chrono::milliseconds timeout_ms) = 0

struct TrajectoryPaths

#include <subsystems.hpp>

Public Members

std::string UnoptimisedTrajectory

std::string OptimisedTrajectory