Class TrajectoryTime
Defined in File trajectory_time.h
Class Documentation
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class TrajectoryTime
Represents a time stamp to query the trajectory of rcvisard’s slam module.
This class serves as convenience object to be used in conjunction with RemoteInterface::getSlamTrajectory(…)
A TrajectoryTime can be defined either as an absolute time stamp (see Absolute()), or as a relative reference to either the start time of the trajectory (see RelativeToStartOfTrajectory(…)) or its end (see RelativeToEndOfTrajectory(…)).
Internally, relative times are represented with signed values: positive values define an offset of the trajectory’s start, negative values an offset to the trajectory’s end (see getSe(), getNsec().
Public Functions
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TrajectoryTime(long sec, long nsec, bool relative)
Full constructor for specifiying a time either as relative offset or as absolute timestamp
- Parameters:
sec – seconds of absolute timestamp, or of relative offset to either trajectory start (positive values) or trajectory end (negative values)
nsec – nanoseconds of absolute timestamp, or of relative offset to either trajectory start (positive values) or trajectory end (negative values)
relative – if true, sec and nsec values are treated as relative offset; otherwise they are treated as absolute timestamp
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inline bool isRelative() const
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inline long getSec() const
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inline long getNsec() const
Public Static Functions
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static TrajectoryTime Absolute(unsigned long sec, unsigned long nsec)
Creates an absolute time stamp of the given values.
- Parameters:
sec – Unix time stamp (seconds since Jan 01 1970 UTC)
nsec – nanoseconds added to sec
- Returns:
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static TrajectoryTime RelativeToStart(unsigned long sec = 0, unsigned long nsec = 0)
Creates a time stamp from the given values as an offset to the start point of the trajectory.
- Parameters:
sec – seconds since the start of trajectory
nsec – nanoseconds added to sec
- Returns:
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static TrajectoryTime RelativeToEnd(unsigned long sec = 0, unsigned long nsec = 0)
Creates a time stamp from the given values as an offset from the end point of the trajectory.
- Parameters:
sec – seconds to the end of trajectory
nsec – nanoseconds added to sec
- Returns:
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TrajectoryTime(long sec, long nsec, bool relative)