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Class slamcore::OptimisedTrajectorySubsystemInterface
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class OptimisedTrajectorySubsystemInterface : public SubsystemInterface
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::OptimmisedTrajectorySubsystemInterface>(); // Fetch most recent trajectories subsystem->fetch(); // You can retrieve some data const auto optimisedTrajectory = subsystem->getTrajectory();
Note
There are some positioning modes where the optimised trajectory is not produced. In these cases,
getTrajectory
will returnnullptr
.Note
Not thread safe.
Public Types
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using Ptr = std::shared_ptr<OptimisedTrajectorySubsystemInterface>
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using CPtr = std::shared_ptr<const OptimisedTrajectorySubsystemInterface>
Public Functions
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virtual ~OptimisedTrajectorySubsystemInterface() = default
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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.
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virtual std::shared_ptr<const PoseListInterface<camera_clock>> getTrajectory() const = 0
Get Optimised Trajectory.
Note
For some positioning modes this can return
nullptr
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using Ptr = std::shared_ptr<OptimisedTrajectorySubsystemInterface>