glim::OdometryEstimationBase Class Reference

Odometry estimation base class. More...

#include <odometry_estimation_base.hpp>

Inheritance diagram for glim::OdometryEstimationBase:

Public Member Functions
virtual bool	requires_imu () const
	Returns true if the odometry estimation module requires IMU data.
virtual void	insert_imu (const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel)
	Insert an IMU data.
virtual EstimationFrame::ConstPtr	insert_frame (const PreprocessedFrame::Ptr &frame, std::vector< EstimationFrame::ConstPtr > &marginalized_states)
	Insert a point cloud.
virtual std::vector< EstimationFrame::ConstPtr >	get_remaining_frames ()
	Pop out the remaining non-marginalized frames (called at the end of the sequence)

Static Public Member Functions
static std::shared_ptr< OdometryEstimationBase >	load_module (const std::string &so_name)
	Load an odometry estimation module from a dynamic library.

Protected Attributes
std::shared_ptr< spdlog::logger >	logger

Detailed Description

Odometry estimation base class.

Member Function Documentation

get_remaining_frames()

virtual std::vector< EstimationFrame::ConstPtr > glim::OdometryEstimationBase::get_remaining_frames ( )

inlinevirtual

Pop out the remaining non-marginalized frames (called at the end of the sequence)

Returns

std::vector<EstimationFrame::ConstPtr>

Reimplemented in glim::OdometryEstimationIMU.

insert_frame()

virtual EstimationFrame::ConstPtr glim::OdometryEstimationBase::insert_frame ( const PreprocessedFrame::Ptr &  frame, std::vector< EstimationFrame::ConstPtr > &  marginalized_states  )

virtual

Insert a point cloud.

Parameters

frame	Preprocessed point cloud
marginalized_states	[out] Marginalized estimation frames

Returns

EstimationFrame::ConstPtr Estimation result for the latest frame

Reimplemented in glim::OdometryEstimationCT, and glim::OdometryEstimationIMU.

insert_imu()

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

virtual

Insert an IMU data.

Parameters

stamp	Timestamp
linear_acc	Linear acceleration
angular_vel	Angular velocity

Reimplemented in glim::OdometryEstimationIMU.

load_module()

static std::shared_ptr< OdometryEstimationBase > glim::OdometryEstimationBase::load_module ( const std::string &  so_name )

static

Load an odometry estimation module from a dynamic library.

Parameters

so_name

Dynamic library name

Returns

Loaded odometry estimation module

requires_imu()

virtual bool glim::OdometryEstimationBase::requires_imu ( ) const

inlinevirtual

Returns true if the odometry estimation module requires IMU data.

Reimplemented in glim::OdometryEstimationCT.

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

• /home/runner/work/glim/glim/include/glim/odometry/odometry_estimation_base.hpp