Trait for pose updaters that keep two different pose difference estimates from different sources. More...

#include <second_pose_input_trait.hpp>

Inheritance diagram for SecondPoseInputTrait:

Collaboration diagram for SecondPoseInputTrait:

Public Member Functions
virtual Eigen::Vector3d	get_second_accumulated_pose_difference () const =0
	Get the accumulated pose difference from the second source.

virtual bool	second_pose_difference_ready () const =0
	Check if the second pose difference is ready.

Private Attributes
int	_last_pose_number_ = 0

Detailed Description

Trait for pose updaters that keep two different pose difference estimates from different sources.

This trait defines the interface for pose updaters that keep two different pose difference estimates from different sources e.g. keeping one from odometry and one from velocity estimation and fusing both through factors in the graph

Definition at line 12 of file second_pose_input_trait.hpp.

Member Function Documentation

◆ get_second_accumulated_pose_difference()

virtual Eigen::Vector3d SecondPoseInputTrait::get_second_accumulated_pose_difference ( ) const

pure virtual

Get the accumulated pose difference from the second source.

Returns: Eigen::Vector3d The accumulated pose difference from the second source

Implemented in DoublePoseUpdater.

◆ second_pose_difference_ready()

virtual bool SecondPoseInputTrait::second_pose_difference_ready ( ) const

pure virtual

Check if the second pose difference is ready.

Returns: true if the second pose difference is ready, false otherwise

Implemented in DoublePoseUpdater.

Member Data Documentation

◆ _last_pose_number_

int SecondPoseInputTrait::_last_pose_number_ = 0

private

Definition at line 13 of file second_pose_input_trait.hpp.

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

src/slam/include/slam_solver/graph_slam_solver/pose_updater/pose_updater_traits/second_pose_input_trait.hpp