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srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Mapping/IPoseExtrapolator.cs

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