Interface for data fusers for the world model. More...
#include <fuser.h>
Public Member Functions | |
virtual | ~WorldModelFuser () |
Virtual empty destructor. | |
virtual void | fuse ()=0 |
The single function that makes fusers work. |
Interface for data fusers for the world model.
World model fusers take one or more input interfaces, mangle the content in some way and then spit it into one or more other interfaces. The simplest can be to just copy values for when there is nothing useful to do, but you want to provide a unified world model. More complex scenarios can involve things like generating a fused output from multiple inputs (like Kalman filtered obstacles positions that are grouped in another step such that multiple readings merge to a single obstacle in the world model).
Definition at line 26 of file fuser.h.
WorldModelFuser::~WorldModelFuser | ( | ) | [virtual] |
void WorldModelFuser::fuse | ( | ) | [pure virtual] |
The single function that makes fusers work.
In this method fusers shall read from their source interfaces, process the data and write to their output interfaces.
Implemented in WorldModelMultiCopyFuser, WorldModelObjPosAverageFuser, WorldModelObjPosMajorityFuser, and WorldModelSingleCopyFuser.