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Odometry: Added process() with optional guess interface

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matlabbe
2016-06-30 11:34:46 -04:00
parent 4115bc416e
commit c2a7b2f13a
2 changed files with 13 additions and 1 deletions
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2
corelib/include/rtabmap/core/Odometry.h
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@@ -55,12 +55,14 @@ public:
public:
virtual ~Odometry();
Transform process(SensorData & data, OdometryInfo * info = 0);
Transform process(SensorData & data, const Transform & guess, OdometryInfo * info = 0);
virtual void reset(const Transform & initialPose = Transform::getIdentity());
//getters
const Transform & getPose() const {return _pose;}
bool isInfoDataFilled() const {return _fillInfoData;}
const Transform & previousVelocityTransform() const {return previousVelocityTransform_;}
double previousStamp() const {return previousStamp_;}
private:
virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0;