glim::AsyncGlobalMapping Class Reference

Global mapping executor to wrap and asynchronously run a global mapping object. More...

#include <async_global_mapping.hpp>

Public Member Functions
	AsyncGlobalMapping (const std::shared_ptr< glim::GlobalMappingBase > &global_mapping, const int optimization_interval_sec=5)
	Construct a new Async Global Mapping object.
	~AsyncGlobalMapping ()
	Destroy the Async Global Mapping object.
void	insert_imu (const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel)
	Insert an IMU frame.
void	insert_submap (const SubMap::Ptr &submap)
	Insert a SubMap.
void	join ()
	Wait for the global mapping thread.
int	workload () const
	Number of data in the input queue (for load control)
void	save (const std::string &path)
	Save the mapping result.
gtsam_points::PointCloud::Ptr	export_points ()
std::shared_ptr< glim::GlobalMappingBase >	get_global_mapping ()

Detailed Description

Global mapping executor to wrap and asynchronously run a global mapping object.

Note

All the exposed public methods except for save() are thread-safe

Constructor & Destructor Documentation

AsyncGlobalMapping()

glim::AsyncGlobalMapping::AsyncGlobalMapping	(	const std::shared_ptr< glim::GlobalMappingBase > &	global_mapping,
		const int	optimization_interval_sec = 5
	)

Construct a new Async Global Mapping object.

Parameters

global_mapping	Global mapping object
optimization_interval	Optimizer is updated every this interval even if no additional values and factors are given

Member Function Documentation

insert_imu()

void glim::AsyncGlobalMapping::insert_imu	(	const double	stamp,
		const Eigen::Vector3d &	linear_acc,
		const Eigen::Vector3d &	angular_vel
	)

Insert an IMU frame.

Parameters

stamp	Timestamp
linear_acc	Linear acceleration
angular_vel	Angular velocity

insert_submap()

void glim::AsyncGlobalMapping::insert_submap

(

const SubMap::Ptr &

submap

)

Insert a SubMap.

Parameters

submap

SubMap

save()

void glim::AsyncGlobalMapping::save

(

const std::string &

path

)

Save the mapping result.

Note

This method may not be thread-safe and is expected to be called after join()

Parameters

path

Save path

workload()

int glim::AsyncGlobalMapping::workload

(

)

const

Number of data in the input queue (for load control)

Returns

Input queue size

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

• /home/runner/work/glim/glim/include/glim/mapping/async_global_mapping.hpp