class mola::KeyframeAttachmentBuffer

Overview

Recent observations of one sensor, from which the one closest in time to each new keyframe is taken. Not thread-safe.

#include <KeyframeAttachments.h>

class KeyframeAttachmentBuffer
{
public:
    // structs

    struct Entry;
    struct Options;

    // construction

    KeyframeAttachmentBuffer();
    KeyframeAttachmentBuffer(const Options& opts);

    // methods

    const Options& options() const;
    void add(const mrpt::obs::CObservation::ConstPtr& obs);
    mrpt::obs::CObservation::ConstPtr take_closest(const mrpt::Clock::time_point& t);
    std::size_t size() const;
};

Methods

mrpt::obs::CObservation::ConstPtr take_closest(const mrpt::Clock::time_point& t)

The observation closest in time to t within max_age (with attach_once, among those not taken before, and then marked as taken), or nullptr if there is none.