00001 /* 00002 * Copyright 2016 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_TRANSFORM_TRANSFORM_INTERPOLATION_BUFFER_H_ 00018 #define CARTOGRAPHER_TRANSFORM_TRANSFORM_INTERPOLATION_BUFFER_H_ 00019 00020 #include <vector> 00021 00022 #include "cartographer/common/time.h" 00023 #include "cartographer/mapping/proto/trajectory.pb.h" 00024 #include "cartographer/transform/rigid_transform.h" 00025 #include "cartographer/transform/timestamped_transform.h" 00026 00027 namespace cartographer { 00028 namespace transform { 00029 00030 // A time-ordered buffer of transforms that supports interpolated lookups. 00031 class TransformInterpolationBuffer { 00032 public: 00033 TransformInterpolationBuffer() = default; 00034 explicit TransformInterpolationBuffer( 00035 const mapping::proto::Trajectory& trajectory); 00036 00037 // Adds a new transform to the buffer and removes the oldest transform if the 00038 // buffer size limit is exceeded. 00039 void Push(common::Time time, const transform::Rigid3d& transform); 00040 00041 // Returns true if an interpolated transfrom can be computed at 'time'. 00042 bool Has(common::Time time) const; 00043 00044 // Returns an interpolated transform at 'time'. CHECK()s that a transform at 00045 // 'time' is available. 00046 transform::Rigid3d Lookup(common::Time time) const; 00047 00048 // Returns the timestamp of the earliest transform in the buffer or 0 if the 00049 // buffer is empty. 00050 common::Time earliest_time() const; 00051 00052 // Returns the timestamp of the earliest transform in the buffer or 0 if the 00053 // buffer is empty. 00054 common::Time latest_time() const; 00055 00056 // Returns true if the buffer is empty. 00057 bool empty() const; 00058 00059 private: 00060 std::vector<TimestampedTransform> timestamped_transforms_; 00061 }; 00062 00063 } // namespace transform 00064 } // namespace cartographer 00065 00066 #endif // CARTOGRAPHER_TRANSFORM_TRANSFORM_INTERPOLATION_BUFFER_H_