okvis::ImuFrameSynchronizer Class Reference

This class is to safely notify different threads whether IMU measurements up to a timestamp (e.g. the one of a camera frame) have already been registered. More...

#include <ImuFrameSynchronizer.hpp>

Public Member Functions
	ImuFrameSynchronizer ()
	Constructor. More...
	~ImuFrameSynchronizer ()
	Destructor. More...
void	gotImuData (const okvis::Time &stamp)
	Tell the synchronizer that a new IMU measurement has been registered. More...
bool	waitForUpToDateImuData (const okvis::Time &frame_stamp)
	Wait until a IMU measurement with a timestamp equal or newer to the supplied one is registered. More...
void	shutdown ()
	Tell the synchronizer to shutdown. This will notify all waiting threads to wake up. More...

Private Attributes
okvis::Time	newestImuDataStamp_
	Newest IMU data timestamp. More...
okvis::Time	imuDataNeededUntil_
	A thread is waiting for IMU data newer or equal to this timestamp. More...
std::condition_variable	gotNeededImuData_
	Condition variable for waiting and notyfing. More...
std::mutex	mutex_
	Mutex. More...
std::atomic_bool	shutdown_
	True if shutdown() was called. More...

Detailed Description

This class is to safely notify different threads whether IMU measurements up to a timestamp (e.g. the one of a camera frame) have already been registered.

Constructor & Destructor Documentation

okvis::ImuFrameSynchronizer::ImuFrameSynchronizer

(

)

Constructor.

okvis::ImuFrameSynchronizer::~ImuFrameSynchronizer

(

)

Destructor.

Member Function Documentation

void okvis::ImuFrameSynchronizer::gotImuData

(

const okvis::Time &

stamp

)

Tell the synchronizer that a new IMU measurement has been registered.

Parameters

stamp

Timestamp of the new IMU mewasurement.

void okvis::ImuFrameSynchronizer::shutdown

(

)

Tell the synchronizer to shutdown. This will notify all waiting threads to wake up.

bool okvis::ImuFrameSynchronizer::waitForUpToDateImuData

(

const okvis::Time &

frame_stamp

)

Wait until a IMU measurement with a timestamp equal or newer to the supplied one is registered.

Parameters

frame_stamp

Timestamp until you want to have IMU measurements for.

Returns

False if a shutdown signal has been received. Otherwise true.

Member Data Documentation

std::condition_variable okvis::ImuFrameSynchronizer::gotNeededImuData_

private

Condition variable for waiting and notyfing.

okvis::Time okvis::ImuFrameSynchronizer::imuDataNeededUntil_

private

A thread is waiting for IMU data newer or equal to this timestamp.

std::mutex okvis::ImuFrameSynchronizer::mutex_

private

Mutex.

okvis::Time okvis::ImuFrameSynchronizer::newestImuDataStamp_

private

Newest IMU data timestamp.

std::atomic_bool okvis::ImuFrameSynchronizer::shutdown_

private

True if shutdown() was called.

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

• okvis_multisensor_processing/include/okvis/ImuFrameSynchronizer.hpp
• okvis_multisensor_processing/src/ImuFrameSynchronizer.cpp