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Class `slamcore::OptimisedTrajectorySubsystemInterface`

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 return nullptr.

Note

Not thread safe.

Public Types

using Ptr = std::shared_ptr<OptimisedTrajectorySubsystemInterface>

using CPtr = std::shared_ptr<const OptimisedTrajectorySubsystemInterface>

Public Functions

virtual ~OptimisedTrajectorySubsystemInterface() = 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>> getTrajectory() const = 0: Get Optimised Trajectory.

Note

For some positioning modes this can return nullptr

Class slamcore::OptimisedTrajectorySubsystemInterface

Class `slamcore::OptimisedTrajectorySubsystemInterface`