g2o::DataQueue Class Reference

a simple queue to store data and retrieve based on a timestamp More...

#include <data_queue.h>

Public Types
typedef std::map< double, RobotData * >	Buffer

Public Member Functions
void	add (RobotData *rd)
RobotData *	findClosestData (double timestamp) const
RobotData *	before (double timestamp) const
RobotData *	after (double timestamp) const
const Buffer &	buffer () const

Protected Attributes
Buffer	_buffer

Detailed Description

a simple queue to store data and retrieve based on a timestamp

Definition at line 41 of file data_queue.h.

Member Typedef Documentation

Buffer

typedef std::map<double, RobotData*> g2o::DataQueue::Buffer

Definition at line 43 of file data_queue.h.

Member Function Documentation

add()

void g2o::DataQueue::add

(

RobotData *

rd

)

Definition at line 62 of file data_queue.cpp.

{ _buffer[rd->timestamp()] = rd; }

References _buffer, and g2o::RobotData::timestamp().

Referenced by g2o::Gm2dlIO::readRobotLaser().

after()

RobotData * g2o::DataQueue::after

(

double

timestamp

)

const

Definition at line 54 of file data_queue.cpp.

                                                  {
  if (_buffer.size() == 0 || _buffer.rbegin()->first < timestamp)
    return nullptr;
  Buffer::const_iterator ub = _buffer.upper_bound(timestamp);
  if (ub == _buffer.end()) return nullptr;
  return ub->second;
}

References _buffer.

before()

RobotData * g2o::DataQueue::before

(

double

timestamp

)

const

Definition at line 46 of file data_queue.cpp.

                                                   {
  if (_buffer.size() == 0 || _buffer.begin()->first >= timestamp)
    return nullptr;
  Buffer::const_iterator lb = _buffer.upper_bound(timestamp);
  --lb;  // now it's the lower bound
  return lb->second;
}

References _buffer.

buffer()

const Buffer & g2o::DataQueue::buffer ( ) const

inline

Definition at line 53 of file data_queue.h.

{ return _buffer; }

Referenced by main().

findClosestData()

RobotData * g2o::DataQueue::findClosestData

(

double

timestamp

)

const

Definition at line 33 of file data_queue.cpp.

                                                            {
  if (_buffer.rbegin()->first < timestamp) return _buffer.rbegin()->second;
  if (_buffer.begin()->first > timestamp) return _buffer.begin()->second;
 
  Buffer::const_iterator ub = _buffer.upper_bound(timestamp);
  Buffer::const_iterator lb = ub;
  --lb;
  if (fabs(lb->first - timestamp) < fabs(ub->first - timestamp))
    return lb->second;
  else
    return ub->second;
}

References _buffer.

Referenced by g2o::addOdometryCalibLinksDifferential(), and main().

Member Data Documentation

_buffer

Buffer g2o::DataQueue::_buffer

protected

Definition at line 56 of file data_queue.h.

Referenced by add(), after(), before(), and findClosestData().

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

• /build/reproducible-path/g2o-0~20230806/g2o/types/data/data_queue.h
• /build/reproducible-path/g2o-0~20230806/g2o/types/data/data_queue.cpp