#include <sensor_fusion.h>

Public Member Functions
	SensorFusion (TbotsProto::SensorFusionConfig sensor_fusion_config)

void	processSensorProto (const SensorProto &sensor_msg)

std::optional< World >	getWorld () const

Static Public Attributes
static constexpr unsigned int	VISION_PACKET_RESET_COUNT_THRESHOLD = 5

static constexpr double	VISION_PACKET_RESET_TIME_THRESHOLD = 0.5

static constexpr double	DISTANCE_THRESHOLD_FOR_BREAKBEAM_FAULT_DETECTION = 0.5

Detailed Description

Sensor Fusion is an abstraction around all filtering operations that our system may need to perform. It produces Worlds that may be used, and consumes SensorProtos

Constructor & Destructor Documentation

◆ SensorFusion()

SensorFusion ( TbotsProto::SensorFusionConfig sensor_fusion_config )

explicit

Creates a SensorFusion with a sensor_fusion_config

Parameters

sensor_fusion_config The config to fetch parameters from

Member Function Documentation

◆ getWorld()

std::optional< World > getWorld ( ) const

Returns the most up-to-date world if enough data has been received to create one.

Returns: the most up-to-date world if enough data has been received to create one.

◆ processSensorProto()

void processSensorProto ( const SensorProto & sensor_msg )

Processes a new SensorProto, which may update the latest representation of the World

Parameters

new data

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

src/software/sensor_fusion/sensor_fusion.h
src/software/sensor_fusion/sensor_fusion.cpp