Struct PntosFusionPlugin

• Defined in File fusion.h

Struct Documentation

struct PntosFusionPlugin

Plugin that provides a PntosCommonFusionEngine, allowing data from multiple sensors to be integrated into a unified state estimate.

Public Members

PntosCommonPlugin common

Core plugin structure. See PntosCommonPlugin

bool (*is_fusion_type_supported)(struct PntosFusionPlugin *self, PntosFusionType type)

Return if the plugin supports a given type of fusion. See PntosFusionType.

PntosCommonFusionEngine *(*new_fusion_engine)(struct PntosFusionPlugin *self, PntosFusionType type)

Create an instance of PntosCommonFusionEngine. The PntosFusionType parameter specifies the type of fusion that the returned value will support. For example, if the user passes in PNTOS_FUSION_STANDARD_MODEL, then the returned value will be castable to PntosStandardFusionEngine. Returns NULL if type is not supported by this fusion plugin (is_fusion_type_supported can be used to check the type before calling this method). Otherwise the return is guaranteed to not be NULL.