BufferClass that holds mars::BufferEntryType elements and provides access methods. More...

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/buffer.h>

Collaboration diagram for mars::Buffer:

Public Member Functions
	Buffer ()
	Buffer default constructor max buffer size is set to 400 by default. More...

	Buffer (const int &size)
	Buffer constructor. More...

void	set_max_buffer_size (const int &size)
	set_max_buffer_size More...

void	set_keep_last_sensor_handle (const bool &value)
	set_keep_last_sensor_handle More...

int	get_max_buffer_size () const
	get_max_buffer_size More...

void	ResetBufferData ()
	Removes all entrys from the buffer. More...

bool	IsEmpty () const
	IsEmpty. More...

int	get_length () const
	get_length More...

void	PrintBufferEntries () const
	PrintBufferEntries prints all buffer entries in a formatted way. More...

bool	get_latest_entry (BufferEntryType *entry) const
	get_latest_entry Returns the last buffer entry More...

bool	get_latest_state (BufferEntryType *entry) const
	get_latest_state returns the most recent state entry More...

bool	get_oldest_state (BufferEntryType *entry) const
	get_oldest_state Gets the oldest entry with metadata in the state group More...

bool	get_oldest_core_state (BufferEntryType *entry) const
	get_oldest_core_state Gets the oldest entry with metadata_ core_state More...

bool	get_latest_init_state (BufferEntryType *entry) const
	Gets the latest entry with init_state as metadata. More...

bool	get_latest_sensor_handle_state (const std::shared_ptr< SensorAbsClass > &sensor_handle, BufferEntryType *entry) const
	get_latest_sensor_handle_state More...

bool	get_latest_sensor_handle_state (const std::shared_ptr< SensorAbsClass > &sensor_handle, BufferEntryType entry, int index) const
	get_latest_sensor_handle_state More...

bool	get_oldest_sensor_handle_state (const std::shared_ptr< SensorAbsClass > &sensor_handle, BufferEntryType *entry) const
	get_oldest_sensor_handle_state More...

bool	get_latest_sensor_handle_measurement (const std::shared_ptr< SensorAbsClass > &sensor_handle, BufferEntryType *entry) const
	get_latest_sensor_handle_measurement More...

bool	get_sensor_handle_measurements (const std::shared_ptr< SensorAbsClass > &sensor_handle, std::vector< const BufferEntryType * > *entries) const
	get_sensor_handle_measurements More...

bool	get_closest_state (const Time &timestamp, BufferEntryType *entry) const
	get_closest_state More...

bool	get_closest_state (const Time &timestamp, BufferEntryType entry, int index) const

bool	get_entry_at_idx (const int &index, BufferEntryType *entry) const
	get_entry_at_idx More...

bool	RemoveSensorFromBuffer (const std::shared_ptr< SensorAbsClass > &sensor_handle)
	RemoveSensorFromBuffer Removes all entrys that are associated with the given sensor handle. More...

int	AddEntrySorted (const BufferEntryType &new_entry, const bool &after=true)
	AddEntrySorted Adds a new entry to the buffer and ensures the buffer is sorted. More...

int	FindClosestTimestamp (const Time &timestamp) const
	FindClosestTimestamp Returns the index of the entry which is the closest to the specified 'timestamp' when searching from newest to oldest entry. More...

bool	ClearStatesStartingAtIdx (const int &idx)
	Deletes all states after, and including the given index This also deletes all auto generated states. More...

bool	IsSorted () const
	Checks if all buffer entrys are correctly sorted by time. More...

bool	OverwriteDataAtIndex (const BufferEntryType &new_entry, const int &index)
	InsertDataAtIndex Adds 'entry' at buffer position 'index'. More...

bool	get_intermediate_entry_pair (const std::shared_ptr< SensorAbsClass > &sensor_handle, BufferEntryType imu_state, BufferEntryType sensor_state) const
	get_latest_interm_entrie Get last state pair of imu prop and sensor update More...

bool	CheckForLastSensorHandleWithState (const std::shared_ptr< SensorAbsClass > &sensor_handle) const
	CheckForLastSensorHandleWithState Checks if the given sensor handle only exists once in the buffer and if it has a state. More...

int	RemoveOverflowEntrys ()
	RemoveOverflowEntrys Removes the oldest entries if max buffer size is reached. More...

Private Attributes
std::deque< BufferEntryType >	data_
	deque container that holds the buffer entries More...

int	max_buffer_size_ { 2000 }
	defines the max size at wich the oldest entry is removed More...

bool	keep_last_sensor_handle_ { true }
	If true, the last entry of a sensor state entry will be keept in the buffer. More...

bool	verbose_ { false }
	Increased cmd output. More...

Detailed Description

BufferClass that holds mars::BufferEntryType elements and provides access methods.

Author: Christian Brommer chris.nosp@m.tian.nosp@m..brom.nosp@m.mer@.nosp@m.ieee..nosp@m.org

Attention: Erasing elements that are not located at the end or beginning of the buffer will invalidate the deque iterator

Constructor & Destructor Documentation

◆ Buffer() [1/2]

mars::Buffer::Buffer ( )

Buffer default constructor max buffer size is set to 400 by default.

◆ Buffer() [2/2]

mars::Buffer::Buffer ( const int & size )

Buffer constructor.

Parameters

size	max buffer size

Member Function Documentation

◆ set_max_buffer_size()

void mars::Buffer::set_max_buffer_size ( const int & size )

set_max_buffer_size

Parameters

size	max number of entrys after which the oldest entry is deleted

◆ set_keep_last_sensor_handle()

void mars::Buffer::set_keep_last_sensor_handle ( const bool & value )

set_keep_last_sensor_handle

Parameters

value enables or disables the mechanism to keep the last sensor handle

◆ get_max_buffer_size()

int mars::Buffer::get_max_buffer_size ( ) const

get_max_buffer_size

Returns: current setting for the highest buffer size

◆ ResetBufferData()

void mars::Buffer::ResetBufferData ( )

Removes all entrys from the buffer.

◆ IsEmpty()

bool mars::Buffer::IsEmpty ( ) const

IsEmpty.

Returns: True if the buffer is empty, false otherwise

◆ get_length()

int mars::Buffer::get_length ( ) const

inline

get_length

Returns: current number of elements stored in the buffer

   {
     return static_cast<int>(data_.size());
   }

◆ PrintBufferEntries()

void mars::Buffer::PrintBufferEntries ( ) const

PrintBufferEntries prints all buffer entries in a formatted way.

◆ get_latest_entry()

bool mars::Buffer::get_latest_entry ( BufferEntryType * entry ) const

get_latest_entry Returns the last buffer entry

Parameters

entry Output parameter for the latest entry

Returns: True if the operation was performed, false otherwise

◆ get_latest_state()

bool mars::Buffer::get_latest_state ( BufferEntryType * entry ) const

get_latest_state returns the most recent state entry

Parameters

entry Output parameter for the latest state entry

Returns: True if the operation was performed, false otherwise

◆ get_oldest_state()

bool mars::Buffer::get_oldest_state ( BufferEntryType * entry ) const

get_oldest_state Gets the oldest entry with metadata in the state group

Parameters

entry Output variable for the oldest state entry

Returns: true if the operation was successfully, false otherwise

◆ get_oldest_core_state()

bool mars::Buffer::get_oldest_core_state ( BufferEntryType * entry ) const

get_oldest_core_state Gets the oldest entry with metadata_ core_state

Parameters

entry Output variable for the oldest core state entry

Returns: true if the operation was successfully, false otherwise

◆ get_latest_init_state()

bool mars::Buffer::get_latest_init_state ( BufferEntryType * entry ) const

Gets the latest entry with init_state as metadata.

Parameters

entry Output parameter for the latest init_state entry

Returns: true if the operation was performed, false otherwise

◆ get_latest_sensor_handle_state() [1/2]

bool mars::Buffer::get_latest_sensor_handle_state	(	const std::shared_ptr< SensorAbsClass > &	sensor_handle,
		BufferEntryType *	entry
	)		const

get_latest_sensor_handle_state

Parameters

sensor_handle	Seach parameter for the latest assosiated state entry
entry	Output parameter for the latest sensor handle state entry

Returns: true if the operation was performed, false otherwise

◆ get_latest_sensor_handle_state() [2/2]

bool mars::Buffer::get_latest_sensor_handle_state	(	const std::shared_ptr< SensorAbsClass > &	sensor_handle,
		BufferEntryType *	entry,
		int *	index
	)		const

get_latest_sensor_handle_state

Parameters

sensor_handle	Seach parameter for the latest assosiated state entry
entry	Output parameter for the latest sensor handle state entry
index	Returns the current index of this entry

Returns: true if the operation was performed, false otherwise

◆ get_oldest_sensor_handle_state()

bool mars::Buffer::get_oldest_sensor_handle_state	(	const std::shared_ptr< SensorAbsClass > &	sensor_handle,
		BufferEntryType *	entry
	)		const

get_oldest_sensor_handle_state

Parameters

sensor_handle	seach parameter for the oldest assosiated state entry
entry	output parameter for the oldest sensor handle state entry

Returns: true if the operation was successfully, false otherwise

◆ get_latest_sensor_handle_measurement()

bool mars::Buffer::get_latest_sensor_handle_measurement	(	const std::shared_ptr< SensorAbsClass > &	sensor_handle,
		BufferEntryType *	entry
	)		const

get_latest_sensor_handle_measurement

Parameters

sensor_handle	seach parameter for the latest associated measurement entry
entry	output parameter for the latest sensor handle measurement entry

Returns: true if the operation was performed, false otherwise

◆ get_sensor_handle_measurements()

bool mars::Buffer::get_sensor_handle_measurements	(	const std::shared_ptr< SensorAbsClass > &	sensor_handle,
		std::vector< const BufferEntryType * > *	entries
	)		const

get_sensor_handle_measurements

Parameters

sensor_handle	seach parameter for the all associated measurement entries
entries	output parameter for the sensor handle measurement entries

Returns: true if the operation was performed and values are returned, false otherwise

Author: Martin Scheiber marti.nosp@m.n.sc.nosp@m.heibe.nosp@m.r@ie.nosp@m.ee.or.nosp@m.g

◆ get_closest_state() [1/2]

bool mars::Buffer::get_closest_state	(	const Time &	timestamp,
		BufferEntryType *	entry
	)		const

get_closest_state

Parameters

timestamp
entry

Returns: true if the operation was performed, false otherwise

Note: The newer entry is returned if the time distance between two entrys is equal

◆ get_closest_state() [2/2]

bool mars::Buffer::get_closest_state	(	const Time &	timestamp,
		BufferEntryType *	entry,
		int *	index
	)		const

◆ get_entry_at_idx()

bool mars::Buffer::get_entry_at_idx	(	const int &	index,
		BufferEntryType *	entry
	)		const

get_entry_at_idx

Parameters

index
entry

Returns

◆ RemoveSensorFromBuffer()

bool mars::Buffer::RemoveSensorFromBuffer ( const std::shared_ptr< SensorAbsClass > & sensor_handle )

RemoveSensorFromBuffer Removes all entrys that are associated with the given sensor handle.

Parameters

sensor_handle Sensor handle to be removed

Returns: true if the operation was performed, false otherwise

Here is the caller graph for this function:

◆ AddEntrySorted()

int mars::Buffer::AddEntrySorted	(	const BufferEntryType &	new_entry,
		const bool &	after = `true`
	)

AddEntrySorted Adds a new entry to the buffer and ensures the buffer is sorted.

Parameters

new_entry new buffer entry to be added

Returns: Index of the added entry. The index is -1 if the entry was removed because the max_buffer_size was reached.

The method finds the closest timestamp based on the shortest 'time' distance between the new and existing buffer elements. It then determines if the entry needs to be added before or after the closest entry.

◆ FindClosestTimestamp()

int mars::Buffer::FindClosestTimestamp ( const Time & timestamp ) const

FindClosestTimestamp Returns the index of the entry which is the closest to the specified 'timestamp' when searching from newest to oldest entry.

Parameters

timestamp for the surch routine

Returns: index of the closest entry

◆ ClearStatesStartingAtIdx()

bool mars::Buffer::ClearStatesStartingAtIdx ( const int & idx )

Deletes all states after, and including the given index This also deletes all auto generated states.

Parameters

idx	Start index after which all states are deleted

Returns: true if function was performed correct, false otherwise

◆ IsSorted()

bool mars::Buffer::IsSorted ( ) const

Checks if all buffer entrys are correctly sorted by time.

Returns: true if sorted, false otherwise

◆ OverwriteDataAtIndex()

bool mars::Buffer::OverwriteDataAtIndex	(	const BufferEntryType &	new_entry,
		const int &	index
	)

InsertDataAtIndex Adds 'entry' at buffer position 'index'.

Parameters

new_entry	Entry buffer entry to be added
index	position at which the entry is added

◆ get_intermediate_entry_pair()

bool mars::Buffer::get_intermediate_entry_pair	(	const std::shared_ptr< SensorAbsClass > &	sensor_handle,
		BufferEntryType *	imu_state,
		BufferEntryType *	sensor_state
	)		const

get_latest_interm_entrie Get last state pair of imu prop and sensor update

This function provides a state pair for an intermediate propagated state and a corresponding sensor update for the same point in time. The intermediate state reflects the propagation of the latest real IMU measurement to the current point in time at which the sensor update will be performed. This is mostelikely an auto generated state, added via the 'InsertIntermediateData' function.

Returns: True if successfull, false of no pair was found

◆ CheckForLastSensorHandleWithState()

bool mars::Buffer::CheckForLastSensorHandleWithState ( const std::shared_ptr< SensorAbsClass > & sensor_handle ) const

CheckForLastSensorHandleWithState Checks if the given sensor handle only exists once in the buffer and if it has a state.

Parameters

sensor_handle

Returns: true if current sensor handle is the last in the buffer, false otherwise

◆ RemoveOverflowEntrys()

int mars::Buffer::RemoveOverflowEntrys ( )

RemoveOverflowEntrys Removes the oldest entries if max buffer size is reached.

Member Data Documentation

◆ data_

std::deque<BufferEntryType> mars::Buffer::data_

private

deque container that holds the buffer entries

◆ max_buffer_size_

int mars::Buffer::max_buffer_size_ { 2000 }

private

defines the max size at wich the oldest entry is removed

◆ keep_last_sensor_handle_

bool mars::Buffer::keep_last_sensor_handle_ { true }

private

If true, the last entry of a sensor state entry will be keept in the buffer.

Note: This only keeps sensor states, not measurements or core states

◆ verbose_

bool mars::Buffer::verbose_ { false }

private

Increased cmd output.

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

buffer.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Buffer() [1/2]

◆ Buffer() [2/2]

Member Function Documentation

◆ set_max_buffer_size()

◆ set_keep_last_sensor_handle()

◆ get_max_buffer_size()

◆ ResetBufferData()

◆ IsEmpty()

◆ get_length()

◆ PrintBufferEntries()

◆ get_latest_entry()

◆ get_latest_state()

◆ get_oldest_state()

◆ get_oldest_core_state()

◆ get_latest_init_state()

◆ get_latest_sensor_handle_state() [1/2]

◆ get_latest_sensor_handle_state() [2/2]

◆ get_oldest_sensor_handle_state()

◆ get_latest_sensor_handle_measurement()

◆ get_sensor_handle_measurements()

◆ get_closest_state() [1/2]

◆ get_closest_state() [2/2]

◆ get_entry_at_idx()

◆ RemoveSensorFromBuffer()

◆ AddEntrySorted()

◆ FindClosestTimestamp()

◆ ClearStatesStartingAtIdx()

◆ IsSorted()

◆ OverwriteDataAtIndex()

◆ get_intermediate_entry_pair()

◆ CheckForLastSensorHandleWithState()

◆ RemoveOverflowEntrys()

Member Data Documentation

◆ data_

◆ max_buffer_size_

◆ keep_last_sensor_handle_

◆ verbose_