The data provider class for accessing the data retrieved from the remote device. More...

#include <slamtec_remote_public.hxx>

Inheritance diagram for rp::standalone::aurora::RemoteDataProvider:

Public Member Functions
bool	getCurrentPoseSE3 (slamtec_aurora_sdk_pose_se3_t &poseOut, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Get the current device pose in SE3 format. More...

bool	getCurrentPose (slamtec_aurora_sdk_pose_t &poseOut, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Get the current device pose in Euler angles (Roll-Pitch-Yaw RPY order) format. More...

bool	getMappingFlags (slamtec_aurora_sdk_mapping_flag_t &flagsOut, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Get the current mapping flags. More...

bool	getLastDeviceStatus (slamtec_aurora_sdk_device_status_t &statusOut, uint64_t &timestamp_ns, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Get the last device status. More...

bool	peekTrackingData (RemoteTrackingFrameInfo &infoOut, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Peek the tracking data. More...

bool	peekVSLAMSystemStatus (slamtec_aurora_sdk_device_status_desc_t &statusOut, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)

bool	peekRelocalizationStatus (slamtec_aurora_sdk_relocalization_status_t &statusOut, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)

bool	peekRecentLIDARScanSingleLayer (SingleLayerLIDARScan &scanData, slamtec_aurora_sdk_pose_se3_t &scanPoseSE3, bool forceLatest=false, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Peek the recent LIDAR scan data in single layer mode. More...

bool	peekIMUData (std::vector< slamtec_aurora_sdk_imu_data_t > &imuDataOut, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Peek the IMU data. More...

bool	getIMUInfo (slamtec_aurora_sdk_imu_info_t &infoOut, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Get the IMU info. More...

bool	getGlobalMappingInfo (slamtec_aurora_sdk_global_map_desc_t &descOut, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Get the global mapping info. More...

bool	getAllMapInfo (std::vector< slamtec_aurora_sdk_map_desc_t > &descBuffer, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Get all map info. More...

bool	accessMapData (const RemoteMapDataVisitor &visitor, std::vector< uint32_t > mapIDs=std::vector< uint32_t >(), slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Access the map data like keyframe and map points data. More...

bool	accessMapData (const slamtec_aurora_sdk_map_data_visitor_t &visitor, std::vector< uint32_t > mapIDs=std::vector< uint32_t >(), slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Access the map data like keyframe and map points data. More...

Protected Member Functions
	RemoteDataProvider (slamtec_aurora_sdk_session_handle_t &sdk)

Protected Member Functions inherited from rp::standalone::aurora::Noncopyable
	Noncopyable (const Noncopyable &)=delete

Noncopyable &	operator= (const Noncopyable &)=delete

	Noncopyable (Noncopyable &&)=default

Noncopyable &	operator= (Noncopyable &&)=default

Protected Attributes
slamtec_aurora_sdk_session_handle_t	_sdk

Friends
class	RemoteSDK

Detailed Description

The data provider class for accessing the data retrieved from the remote device.

Use this class to access the data retrieved from the remote device

Member Function Documentation

◆ accessMapData() [1/2]

bool rp::standalone::aurora::RemoteDataProvider::accessMapData	(	const RemoteMapDataVisitor &	visitor,
		std::vector< uint32_t >	mapIDs = `std::vector<uint32_t>()`,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Access the map data like keyframe and map points data.

Caller can use this function to access the map data like keyframe and map points data.

A visitor object contains data callback listeners must be provided

those callbacks set to NULL will be ignored

the SDK will enter stall state during the data accessing,

i.e. the background data sync will paused

if all map data should be accessed, simply pass an empty vector to the map_ids

Parameters

[in]	visitor	The visitor to visit the map data
[in]	mapIDs	The map IDs to access, set to empty vector if access all maps
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the map data is accessed successfully, false otherwise

◆ accessMapData() [2/2]

bool rp::standalone::aurora::RemoteDataProvider::accessMapData	(	const slamtec_aurora_sdk_map_data_visitor_t &	visitor,
		std::vector< uint32_t >	mapIDs = `std::vector<uint32_t>()`,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Access the map data like keyframe and map points data.

Caller can use this function to access the map data like keyframe and map points data.

A visitor object contains data callback listeners must be provided

those callbacks set to NULL will be ignored

the SDK will enter stall state during the data accessing,

i.e. the background data sync will paused

if all map data should be accessed, simply pass an empty vector to the map_ids

Parameters

[in]	visitor	The visitor to visit the map data
[in]	mapIDs	The map IDs to access, set to empty vector if access all maps
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the map data is accessed successfully, false otherwise

◆ getAllMapInfo()

bool rp::standalone::aurora::RemoteDataProvider::getAllMapInfo	(	std::vector< slamtec_aurora_sdk_map_desc_t > &	descBuffer,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Get all map info.

Caller can use this function to get all map description info.

Parameters

[out]	descBuffer	The buffer to store the map info
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the map info is retrieved successfully, false otherwise

◆ getCurrentPose()

bool rp::standalone::aurora::RemoteDataProvider::getCurrentPose	(	slamtec_aurora_sdk_pose_t &	poseOut,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Get the current device pose in Euler angles (Roll-Pitch-Yaw RPY order) format.

Caller can use this function to get the current pose in Euler angles format.

The pose data retrieved is the cached data from previous fetched by the background data sync thread.

The pose data may be outdated. If caller needs the latest pose data, it should using the SDK listener to get the pose update event.

WARNING: gimbal lock may happen, please use the SE3 pose if possible.

Parameters

[out]	poseOut	The current pose in Euler angles format
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the pose is retrieved successfully, false otherwise

◆ getCurrentPoseSE3()

bool rp::standalone::aurora::RemoteDataProvider::getCurrentPoseSE3	(	slamtec_aurora_sdk_pose_se3_t &	poseOut,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Get the current device pose in SE3 format.

Caller can use this function to get the current pose in SE3 format.

The pose data retrieved is the cached data from previous fetched by the background data sync thread.

The pose data may be outdated. If caller needs the latest pose data, it should using the SDK listener to get the pose update event.

Parameters

[out]	poseOut	The current pose in SE3 format
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the pose is retrieved successfully, false otherwise

◆ getGlobalMappingInfo()

bool rp::standalone::aurora::RemoteDataProvider::getGlobalMappingInfo	(	slamtec_aurora_sdk_global_map_desc_t &	descOut,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Get the global mapping info.

Caller can use this function to get the global mapping info.

Parameters

[out]	descOut	The global mapping info
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the global mapping info is retrieved successfully, false otherwise

◆ getIMUInfo()

bool rp::standalone::aurora::RemoteDataProvider::getIMUInfo	(	slamtec_aurora_sdk_imu_info_t &	infoOut,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Get the IMU info.

Caller can use this function to get the IMU info.

Parameters

[out]	infoOut	The IMU info
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the IMU info is retrieved successfully, false otherwise

◆ getLastDeviceStatus()

bool rp::standalone::aurora::RemoteDataProvider::getLastDeviceStatus	(	slamtec_aurora_sdk_device_status_t &	statusOut,
		uint64_t &	timestamp_ns,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Get the last device status.

Caller can use this function to get the last device status.

Parameters

[out]	statusOut	The last device status
[out]	timestamp_ns	The timestamp of the last device status
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the status is retrieved successfully, false otherwise

◆ getMappingFlags()

bool rp::standalone::aurora::RemoteDataProvider::getMappingFlags	(	slamtec_aurora_sdk_mapping_flag_t &	flagsOut,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Get the current mapping flags.

Caller can use this function to get the current SLAM working flags, e.g. whether Loop Closure is disabled or not

Parameters

[out]	flagsOut	The current mapping flags
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the flags are retrieved successfully, false otherwise

◆ peekIMUData()

bool rp::standalone::aurora::RemoteDataProvider::peekIMUData	(	std::vector< slamtec_aurora_sdk_imu_data_t > &	imuDataOut,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Peek the IMU data.

Caller can use this function to peek the IMU data

The IMU data is the cached data from previous fetched by the background data sync thread.

The IMU data may be outdated. If caller needs the latest IMU data, it should using the SDK listener to get the IMU update event.

Parameters

[out]	imuDataOut	The IMU data
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the IMU data is retrieved successfully, false otherwise

◆ peekRecentLIDARScanSingleLayer()

bool rp::standalone::aurora::RemoteDataProvider::peekRecentLIDARScanSingleLayer	(	SingleLayerLIDARScan &	scanData,
		slamtec_aurora_sdk_pose_se3_t &	scanPoseSE3,
		bool	forceLatest = `false`,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Peek the recent LIDAR scan data in single layer mode.

Caller can use this function to peek the recent LIDAR scan data along with its pose.

The pose is estimated by the tracking pose at the time of the scan.

The LIDAR scan data is the cached data from previous fetched by the background data sync thread.

The LIDAR scan data may be outdated. If caller needs the latest LIDAR scan data, it should using the SDK listener to get the LIDAR scan update event.

Parameters

[out]	scanData	The LIDAR scan data
[out]	scanPoseSE3	The pose of the LIDAR scan data
[in]	forceLatest	Whether to force the latest LIDAR scan data, set to false to use the cached data
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the LIDAR scan data is retrieved successfully, false otherwise

◆ peekTrackingData()

bool rp::standalone::aurora::RemoteDataProvider::peekTrackingData	(	RemoteTrackingFrameInfo &	infoOut,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Peek the tracking data.

Caller can use this function to peek the tracking data

The tracking data is the cached data from previous fetched by the background data sync thread.

The tracking data may be outdated. If caller needs the latest tracking data, it should using the SDK listener to get the tracking update event.

Parameters

[out]	infoOut	The tracking data
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the tracking data is retrieved successfully, false otherwise

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

inc/cxx/slamtec_remote_public.hxx

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ accessMapData() [1/2]

◆ accessMapData() [2/2]

◆ getAllMapInfo()

◆ getCurrentPose()

◆ getCurrentPoseSE3()

◆ getGlobalMappingInfo()

◆ getIMUInfo()

◆ getLastDeviceStatus()

◆ getMappingFlags()

◆ peekIMUData()

◆ peekRecentLIDARScanSingleLayer()

◆ peekTrackingData()