cartographer源码分析(20)-sensor-data.h

源码可在https://github.com/learnmoreonce/SLAM 下载

文件:data.h#ifndef CARTOGRAPHER_MAPPING_DATA_H_#define CARTOGRAPHER_MAPPING_DATA_H_#include "cartographer/common/time.h"#include "cartographer/sensor/point_cloud.h"#include "cartographer/sensor/range_data.h"#include "cartographer/transform/rigid_transform.h"namespace cartographer {namespace sensor {/*  Data是针对某一类的传感器的数据的封装,数据成员含:1,传感器类型,包括imu，雷达，里程计2,测量时间,time3,Imu测量值,(imu:惯性测量单元是测量物体三轴姿态角(或角速率)以及加速度的装置。)4,rangefinder,测距仪,5,odometer_pose,里程计,指(如装在汽车上的)测量行程的装置。构造函数有3个,每一类传感器对应一个构造函数.*/// This type is a logical union, i.e. only one type of sensor data is actually// filled in. It is only used for time ordering sensor data before passing it// on.struct Data {  enum class Type { kImu, kRangefinder, kOdometer };  struct Imu {    Eigen::Vector3d linear_acceleration; //线性加速度,m/s2    Eigen::Vector3d angular_velocity;    //角速度, rad/s  };//测距仪.基本原理是向待测距的物体发射激光脉冲并开始计时，接收到反射光时停止计时。这段时间即可以转换为激光器与目标之间的距离。  struct Rangefinder {    Eigen::Vector3f origin; //sensor的位姿    PointCloud ranges;      //测距点云  };  Data(const common::Time time, const Imu& imu) //传感器类型是imu      : type(Type::kImu), time(time), imu(imu) {}  Data(const common::Time time, const Rangefinder& rangefinder)//传感器类型是雷达      : type(Type::kRangefinder), time(time), rangefinder(rangefinder) {}  Data(const common::Time time, const transform::Rigid3d& odometer_pose)  //传感器类型是里程计      : type(Type::kOdometer), time(time), odometer_pose(odometer_pose) {}  Type type;  common::Time time;  Imu imu;  Rangefinder rangefinder;  transform::Rigid3d odometer_pose;};}  // namespace sensor}  // namespace cartographer#endif  // CARTOGRAPHER_MAPPING_DATA_H_/*rigidbody:刚体 */

测试代码:

本文发于：
* http://www.jianshu.com/u/9e38d2febec1
* https://zhuanlan.zhihu.com/learnmoreonce
* http://blog.csdn.net/learnmoreonce
* slam源码分析微信公众号:slamcode