101 lines
3.0 KiB
C#
101 lines
3.0 KiB
C#
/*
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* Copyright 2017 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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using CartographerSharp.Sensor;
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using CartographerSharp.Transform;
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using RobotNet10.Shared.Numbers;
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namespace CartographerSharp.Mapping;
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/// <summary>
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/// Interface for pose extrapolation.
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/// </summary>
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public interface IPoseExtrapolator
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{
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/// <summary>
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/// Returns the time of the last added pose or long.MinValue if no pose was added yet.
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/// </summary>
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long GetLastPoseTime();
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/// <summary>
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/// Returns the time of the last extrapolated pose.
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/// </summary>
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long GetLastExtrapolatedTime();
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/// <summary>
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/// Adds a pose at the given time.
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/// </summary>
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void AddPose(long time, Rigid3d pose);
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/// <summary>
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/// Adds IMU data.
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/// </summary>
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void AddImuData(ImuData imuData);
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/// <summary>
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/// Adds odometry data.
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/// </summary>
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void AddOdometryData(OdometryData odometryData);
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/// <summary>
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/// Extrapolates pose to the given time.
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/// </summary>
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Rigid3d ExtrapolatePose(long time);
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/// <summary>
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/// Extrapolates pose with low-pass filter to reduce jitter during direction changes.
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/// Match C++: ExtrapolatePose_filter
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/// </summary>
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Rigid3d ExtrapolatePoseFilter(long time);
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/// <summary>
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/// Extrapolates poses with gravity for multiple times.
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/// </summary>
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ExtrapolationResult ExtrapolatePosesWithGravity(List<long> times);
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/// <summary>
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/// Returns the current gravity alignment estimate as a rotation from
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/// the tracking frame into a gravity aligned frame.
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/// </summary>
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Quaternion EstimateGravityOrientation(long time);
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}
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/// <summary>
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/// Result of pose extrapolation with gravity.
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/// </summary>
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public struct ExtrapolationResult
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{
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/// <summary>
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/// The poses for the requested times at index 0 to N-1 (previous poses).
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/// </summary>
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public List<Rigid3f> PreviousPoses { get; set; }
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/// <summary>
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/// The pose for the requested time at index N (current pose).
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/// </summary>
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public Rigid3d CurrentPose { get; set; }
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/// <summary>
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/// Current velocity estimate.
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/// </summary>
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public Vector3 CurrentVelocity { get; set; }
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/// <summary>
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/// Gravity alignment estimate as a rotation from the tracking frame into a gravity aligned frame.
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/// </summary>
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public Quaternion GravityFromTracking { get; set; }
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}
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