ImuFrameSynchronizer.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *   * Neither the name of Autonomous Systems Lab / ETH Zurich nor the names of
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 *  Created on: Sep 13, 2014
 *      Author: Pascal Gohl
 *    Modified: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *    Modified: Andreas Forster (an.forster@gmail.com)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_IMUFRAMESYNCHRONIZER_H_
#define INCLUDE_OKVIS_IMUFRAMESYNCHRONIZER_H_

#include <atomic>
#include <mutex>
#include <condition_variable>

#include <okvis/Time.hpp>

namespace okvis {

class ImuFrameSynchronizer {
 public:
  ImuFrameSynchronizer();
  ~ImuFrameSynchronizer();

  void gotImuData(const okvis::Time& stamp);

  bool waitForUpToDateImuData(const okvis::Time& frame_stamp);

  void shutdown();

 private:
  okvis::Time newestImuDataStamp_;           
  okvis::Time imuDataNeededUntil_;           
  std::condition_variable gotNeededImuData_; 
  std::mutex mutex_;                         
  std::atomic_bool shutdown_;                
};

} /* namespace okvis */

#endif /* INCLUDE_OKVIS_IMUFRAMESYNCHRONIZER_H_ */