87 lines
2.8 KiB
C
87 lines
2.8 KiB
C
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/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_TRANSFORM_TRANSFORM_INTERPOLATION_BUFFER_H_
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#define CARTOGRAPHER_TRANSFORM_TRANSFORM_INTERPOLATION_BUFFER_H_
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#include <deque>
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#include <limits>
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/proto/trajectory.pb.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "cartographer/transform/timestamped_transform.h"
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namespace cartographer {
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namespace transform {
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constexpr size_t kUnlimitedBufferSize = std::numeric_limits<size_t>::max();
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// A time-ordered buffer of transforms that supports interpolated lookups.
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// Unless explicitly set, the buffer size is unlimited.
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class TransformInterpolationBuffer {
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public:
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TransformInterpolationBuffer() = default;
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explicit TransformInterpolationBuffer(
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const mapping::proto::Trajectory& trajectory);
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// Sets the transform buffer size limit and removes old transforms
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// if it is exceeded.
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void SetSizeLimit(size_t buffer_size_limit);
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// Adds a new transform to the buffer and removes the oldest transform if the
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// buffer size limit is exceeded.
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void Push(common::Time time, const transform::Rigid3d& transform);
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// Clears the transform buffer.
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void Clear();
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// Returns true if an interpolated transform can be computed at 'time'.
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bool Has(common::Time time) const;
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// Returns an interpolated transform at 'time'. CHECK()s that a transform at
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// 'time' is available.
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transform::Rigid3d Lookup(common::Time time) const;
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// Returns the timestamp of the earliest transform in the buffer or 0 if the
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// buffer is empty.
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common::Time earliest_time() const;
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// Returns the timestamp of the earliest transform in the buffer or 0 if the
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// buffer is empty.
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common::Time latest_time() const;
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// Returns true if the buffer is empty.
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bool empty() const;
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// Returns the maximum allowed size of the transform buffer.
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size_t size_limit() const;
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// Returns the current size of the transform buffer.
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size_t size() const;
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private:
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void RemoveOldTransformsIfNeeded();
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std::deque<TimestampedTransform> timestamped_transforms_;
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size_t buffer_size_limit_ = kUnlimitedBufferSize;
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};
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} // namespace transform
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} // namespace cartographer
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#endif // CARTOGRAPHER_TRANSFORM_TRANSFORM_INTERPOLATION_BUFFER_H_
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