jafar::rtslam::SensorManagerAbstract Class Reference

Base class for sensors managers, that decide which data of which sensor should be integrated in the filter next. More...

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Detailed Description

Base class for sensors managers, that decide which data of which sensor should be integrated in the filter next.

The goal is to avoid that a sensor be "starved" (never used) because it has large latencies and always arrives too late, once the filter has already moved after. In order to do that it can use a prediction of the timestamp and arrival time of the next data.

The general problem to solve is to chose which updates to do and when, in order to maximize the gain of information with the constraints of real time computations and chronological updates in filter.

Definition at line 39 of file sensorManager.hpp.

#include <sensorManager.hpp>

Inheritance diagram for jafar::rtslam::SensorManagerAbstract:

List of all members.

Classes
struct	ProcessInfo
Public Member Functions
	SensorManagerAbstract (map_ptr_t mapPtr)
virtual void	logData (sensor_ptr_t sen, double start_date, double waitedmove_date, double moved_date, double processed_date)
virtual void	printStats ()
bool	allInit ()
void	setStartDate (double start_date)
virtual ProcessInfo	getNextDataToUse_func (double currentTime)=0
ProcessInfo	getNextDataToUse (double currentTime)
int	getNextDataToInit (ProcessInfo &result)
virtual void	stop ()
Protected Attributes
map_ptr_t	mapPtr
double	start_date
bool	all_init

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Member Function Documentation

int jafar::rtslam::SensorManagerAbstract::getNextDataToInit

(

ProcessInfo &

result

)

[inline]

Returns:

0 if no more sensor to init, 1 if needs to wait for data to init, 2 if returned correctly a data for init

Definition at line 88 of file sensorManager.hpp.

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The documentation for this class was generated from the following file:

• modules/rtslam/include/rtslam/sensorManager.hpp