Class CollatorInterface

Defined in File collator_interface.h

Inheritance Relationships

Derived Types

public cartographer::sensor::Collator (Class Collator)
public cartographer::sensor::TrajectoryCollator (Class TrajectoryCollator)

Class Documentation

class CollatorInterface

Subclassed by cartographer::sensor::Collator, cartographer::sensor::TrajectoryCollator

Public Types

using Callback = std::function<void(const std::string&, std::unique_ptr<Data>)>

Public Functions

inline CollatorInterface()

inline virtual ~CollatorInterface()

CollatorInterface(const CollatorInterface&) = delete

CollatorInterface &operator=(const CollatorInterface&) = delete

virtual void AddTrajectory(int trajectory_id, const absl::flat_hash_set<std::string> &expected_sensor_ids, const Callback &callback) = 0

virtual void FinishTrajectory(int trajectory_id) = 0

virtual void AddSensorData(int trajectory_id, std::unique_ptr<Data> data) = 0

virtual void Flush() = 0

virtual absl::optional<int> GetBlockingTrajectoryId() const = 0