isae::AMap Class Reference

Abstract class for a Map. More...

#include <amap.h>

Inheritance diagram for isae::AMap:

Public Member Functions
	AMap ()=default
virtual void	addFrame (std::shared_ptr< isae::Frame > &frame)=0
	Add a frame to the map. More...
std::deque< std::shared_ptr< Frame > > &	getFrames ()
std::shared_ptr< isae::Frame >	getLastFrame ()
	Get the last frame added to the map. More...
void	getLastNFramesIn (size_t N, std::vector< std::shared_ptr< isae::Frame >> &dest)
	Provides the last N frames added to the map. More...
typed_vec_landmarks &	getLandmarks ()
size_t	getMapSize ()
void	pushLandmarks (std::shared_ptr< isae::Frame > &frame)
	Add all the landmarks of a frame to the map. More...

Protected Attributes
std::deque< std::shared_ptr< Frame > >	_frames
	A deque of frames in the map, ordered by time. More...
typed_vec_landmarks	_landmarks
	All types of landmark in the map stored as std vectors. More...

Detailed Description

Abstract class for a Map.

It contains a set of frame and landmarks. That can be accessed and modified by the SLAM system.

Constructor & Destructor Documentation

AMap()

isae::AMap::AMap ( )

default

Member Function Documentation

addFrame()

virtual void isae::AMap::addFrame ( std::shared_ptr< isae::Frame > &  frame )

pure virtual

Add a frame to the map.

This method is pure virtual and must be implemented by derived classes. Indeed addition of a new frame may require other operations e.g. for a sliding window approach

getFrames()

std::deque<std::shared_ptr<Frame> >& isae::AMap::getFrames ( )

inline

getLandmarks()

typed_vec_landmarks& isae::AMap::getLandmarks ( )

inline

getLastFrame()

std::shared_ptr<isae::Frame> isae::AMap::getLastFrame ( )

inline

Get the last frame added to the map.

getLastNFramesIn()

void isae::AMap::getLastNFramesIn ( size_t  N, std::vector< std::shared_ptr< isae::Frame >> &  dest  )

inline

Provides the last N frames added to the map.

getMapSize()

size_t isae::AMap::getMapSize ( )

inline

pushLandmarks()

void isae::AMap::pushLandmarks ( std::shared_ptr< isae::Frame > &  frame )

inline

Add all the landmarks of a frame to the map.

Member Data Documentation

_frames

std::deque<std::shared_ptr<Frame> > isae::AMap::_frames

protected

A deque of frames in the map, ordered by time.

_landmarks

typed_vec_landmarks isae::AMap::_landmarks

protected

All types of landmark in the map stored as std vectors.

---

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

• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/data/maps/amap.h