cartographer源码分析(5)-common-rate_time.h

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于 2017-06-24 21:49:38 发布 · 2k 阅读

CC 4.0 BY-SA版权

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


文件:common/fixed_ratio_sampler.h


#ifndef CARTOGRAPHER_COMMON_FIXED_RATIO_SAMPLER_H_
#define CARTOGRAPHER_COMMON_FIXED_RATIO_SAMPLER_H_

#include <string>

#include "cartographer/common/port.h"

namespace cartographer {
   
   
namespace common {
   
   

/*
FixedRatioSampler是频率固定的采样器类，目的是从数据流中均匀的按照固定频率采样数据
FixedRatioSampler不可拷贝,不可赋值.
成员函数提供2种操作:
Pulse()产生一个事件pulses,并且:如果计入采样samples，返回true
DebugString():以string形式输出采样率

*/
// Signals when a sample should be taken from a stream of data to select a
// uniformly distributed fraction of the data.
class FixedRatioSampler {
   
   
 public:
  explicit FixedRatioSampler(double ratio);
  ~FixedRatioSampler();

  FixedRatioSampler(