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external: Improve slam_tracker interface documentation

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This commit is contained in:
Mateo de Mayo 2021-10-06 16:16:14 -03:00
parent 9b21b7d36c
commit ea43e197a3
1 changed files with 11 additions and 7 deletions
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18
src/external/slam_tracker/slam_tracker.hpp vendored
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@ -41,9 +41,9 @@ struct pose {
* @brief IMU Sample type to pass around between programs
*/
struct imu_sample {
std::int64_t timestamp;
double ax, ay, az;
double wx, wy, wz;
std::int64_t timestamp; // In nanoseconds
double ax, ay, az; // In meters per second squared (m / s^2)
double wx, wy, wz; // In radians per second (rad / s)
imu_sample() = default;
imu_sample(std::int64_t timestamp, double ax, double ay, double az, double wx,
double wy, double wz)
@ -89,14 +89,18 @@ struct slam_tracker {
void stop();
bool is_running();
//! Should be thread safe, more than one producer could push.
//! There must be a single producer thread pushing samples.
//! Samples must have monotonically increasing timestamps.
//! The implementation must be non-blocking.
//! A separate consumer thread should process the samples.
void push_imu_sample(imu_sample sample);
//! Should be thread safe, more than one producer could push.
//! Same conditions as `push_imu_sample` apply.
//! When using stereo frames, they must be pushed in a left-right order.
//! The consecutive left-right pair must have the same timestamps.
void push_frame(img_sample sample);
//! Only one user will dequeue, thread safety not required.
//! Could be implemented with a lock-free queue.
//! There must be a single thread accessing the tracked pose.
bool try_dequeue_pose(pose &pose);
private: