wolf::MotionBuffer Class Reference

class for motion buffers. More...

#include <core/processor/motion_buffer.h>

Inheritance diagram for wolf::MotionBuffer:

Public Member Functions
	MotionBuffer ()
const Motion &	getMotion (const TimeStamp &_ts) const
void	getMotion (const TimeStamp &_ts, Motion &_motion) const
void	split (const TimeStamp &_ts, MotionBuffer &_oldest_buffer)
void	print (bool show_data=0, bool show_delta=0, bool show_delta_int=0, bool show_jacs=0, bool show_covs=0)

Detailed Description

class for motion buffers.

It consists of a buffer of pre-integrated motions (aka. delta-integrals) that is being filled by the motion processors (deriving from ProcessorMotion). Each delta-integral is accompanied by a time stamp, a Jacobian and a covariances matrix.

This buffer contains the time stamp and delta-integrals:

• since the last key-Frame
• until the frame of this capture.

The buffer can be queried for motion-integrals and delta-integrals corresponding to a provided time stamp, with the following rules:

• If the query time stamp is later than the last one in the buffer, the last motion-integral or delta-integral is returned.
• If the query time stamp is earlier than the beginning of the buffer, the earliest Motion or Delta is returned.
• If the query time stamp matches one time stamp in the buffer exactly, the returned motion-integral or delta-integral is the one of the queried time stamp.
• If the query time stamp does not match any time stamp in the buffer, the returned motion-integral or delta-integral is the one immediately before the query time stamp.

Constructor & Destructor Documentation

MotionBuffer()

wolf::MotionBuffer::MotionBuffer

(

)

Member Function Documentation

getMotion() [1/2]

const Motion & wolf::MotionBuffer::getMotion

(

const TimeStamp &

_ts

)

const

getMotion() [2/2]

void wolf::MotionBuffer::getMotion	(	const TimeStamp &	_ts,
		Motion &	_motion
	)		const

print()

void wolf::MotionBuffer::print	(	bool	show_data = 0,
		bool	show_delta = 0,
		bool	show_delta_int = 0,
		bool	show_jacs = 0,
		bool	show_covs = 0
	)

split()

void wolf::MotionBuffer::split	(	const TimeStamp &	_ts,
		MotionBuffer &	_oldest_buffer
	)

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

• include/core/processor/motion_buffer.h
• src/processor/motion_buffer.cpp