Program Listing for File OfflineDatasetSource.h
↰ Return to documentation for file (include/mola_kernel/interfaces/OfflineDatasetSource.h
)
/* -------------------------------------------------------------------------
* A Modular Optimization framework for Localization and mApping (MOLA)
* Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
* See LICENSE for license information.
* ------------------------------------------------------------------------- */
#pragma once
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/poses/CPose3DInterpolator.h>
#include <cstdlib>
#include <memory>
namespace mola
{
using trajectory_t = mrpt::poses::CPose3DInterpolator;
class OfflineDatasetSource
{
public:
OfflineDatasetSource() = default;
virtual ~OfflineDatasetSource() = default;
virtual size_t datasetSize() const = 0;
virtual mrpt::obs::CSensoryFrame::Ptr datasetGetObservations(
size_t timestep) const = 0;
virtual bool hasGroundTruthTrajectory() const { return false; }
virtual trajectory_t getGroundTruthTrajectory() const { return {}; }
};
} // namespace mola