glim::AsyncSubMapping Class Reference

SubMapping executor to wrap and asynchronously run a sub mapping object. More...

#include <async_sub_mapping.hpp>

Public Member Functions
	AsyncSubMapping (const std::shared_ptr< glim::SubMappingBase > &sub_mapping)
	Construct a new Async Sub Mapping object.
	~AsyncSubMapping ()
	Destroy the Async Sub Mapping object.
void	insert_imu (const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel)
	Insert an IMU data.
void	insert_frame (const EstimationFrame::ConstPtr &odom_frame)
	Insert an odometry estimation frame.
void	join ()
	Wait for the sub mapping thread.
int	workload () const
	Number of data in the input queue (for load control)
std::vector< SubMap::Ptr >	get_results ()
	Get the created submaps.

Detailed Description

SubMapping executor to wrap and asynchronously run a sub mapping object.

Note

All the exposed public methods are thread-safe

Constructor & Destructor Documentation

AsyncSubMapping()

glim::AsyncSubMapping::AsyncSubMapping

(

const std::shared_ptr< glim::SubMappingBase > &

sub_mapping

)

Construct a new Async Sub Mapping object.

Parameters

sub_mapping

sub mapping object

Member Function Documentation

get_results()

std::vector< SubMap::Ptr > glim::AsyncSubMapping::get_results

(

)

Get the created submaps.

Returns

Created submaps

insert_frame()

void glim::AsyncSubMapping::insert_frame

(

const EstimationFrame::ConstPtr &

odom_frame

)

Insert an odometry estimation frame.

Parameters

odom_frame

Marginalized odometry estimation frame

insert_imu()

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

Insert an IMU data.

Parameters

stamp	Timestamp
linear_acc	Linear acceleration
angular_vel	Angular velocity

workload()

int glim::AsyncSubMapping::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_sub_mapping.hpp