data_validator.hpp

#pragma once
 
#include <memory>
#include <chrono>
#include <Eigen/Core>
 
namespace glim {
 
class RawPoints;
class TimeKeeper;
 
class DataValidator {
public:
  DataValidator(bool debug = false);
  ~DataValidator();
 
public:
  void timer_callback();
  void imu_callback(const double stamp, const Eigen::Vector3d& linear_acc, const Eigen::Vector3d& angular_vel);
  void points_callback(const double stamp, const std::shared_ptr<RawPoints>& raw_points);
 
private:
  std::chrono::high_resolution_clock::time_point last_imu_time;
  std::chrono::high_resolution_clock::time_point last_points_time;
 
  double last_imu_stamp;
  double last_points_stamp;
 
  std::unique_ptr<TimeKeeper> time_keeper;
};
 
}  // namespace glim