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
	DataQueue ()
	~DataQueue ()
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 40 of file data_queue.h.

Member Typedef Documentation

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

Definition at line 43 of file data_queue.h.

Constructor & Destructor Documentation

g2o::DataQueue::DataQueue

(

)

Definition at line 33 of file data_queue.cpp.

  {
  }

g2o::DataQueue::~DataQueue

(

)

Definition at line 37 of file data_queue.cpp.

  {
  }

Member Function Documentation

void g2o::DataQueue::add

(

RobotData *

rd

)

Definition at line 76 of file data_queue.cpp.

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

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

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

RobotData * g2o::DataQueue::after

(

double

timestamp

)

const

Definition at line 66 of file data_queue.cpp.

References _buffer.

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

RobotData * g2o::DataQueue::before

(

double

timestamp

)

const

Definition at line 57 of file data_queue.cpp.

References _buffer.

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

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

inline

Definition at line 56 of file data_queue.h.

Referenced by main().

{return _buffer;}

RobotData * g2o::DataQueue::findClosestData

(

double

timestamp

)

const

Definition at line 41 of file data_queue.cpp.

References _buffer.

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

  {
    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;
  }

Member Data Documentation

Buffer g2o::DataQueue::_buffer

protected

Definition at line 59 of file data_queue.h.

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

---

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/data/data_queue.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/data/data_queue.cpp