Struct PoseEstimator

pub struct PoseEstimator {
    layout: Arc<RwLock<Option<AprilTagFieldLayout>>>,
    tag_mappings: Arc<RwLock<Option<HashMap<usize, Isometry3F64>>>>,
    poses_rx: Arc<Mutex<UnboundedReceiver<Isometry3F64>>>,
    poses_tx: UnboundedSender<Isometry3F64>,
}

Keeps pose transforms and …

Fields

layout: Arc<RwLock<Option<AprilTagFieldLayout>>>

tag_mappings: Arc<RwLock<Option<HashMap<usize, Isometry3F64>>>>

poses_rx: Arc<Mutex<UnboundedReceiver<Isometry3F64>>>

poses_tx: UnboundedSender<Isometry3F64>

Implementations

impl PoseEstimator

pub async fn new() -> Result<Self, Error>

pub async fn load_layout(&self) -> Result<(), Error>

(Re)load the field layout

pub async fn add_transform_from_tag( &self, tag_est_pos: Isometry3F64, tag_id: usize, ) -> Result<(), Error>

Add a transform to the transform registry

pub async fn nt_loop(&self)

Trait Implementations

impl Clone for PoseEstimator

fn clone(&self) -> PoseEstimator

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.