init

2020-09-04 16:19:52 +01:00
commit 33d0e9c193
40 changed files with 3807 additions and 0 deletions
@@ -0,0 +1,40 @@
+#include <vector>
+#include <inttypes.h>
+
+template<typename T1,typename T2>
+class Buffer{
+    public:
+    Buffer(){};
+    void push(T1 input){
+        img.push_back(input);
+    }
+    void push(T1 input_1,T2* input_2 ){
+        img.push_back(input_1);
+        odom=input_2;
+    }
+    void push(T1 input_1,T1 input_2){
+        img.push_back(input_1);
+        img.push_back(input_2);
+    }
+    void push(T1 input_1,T1 input_2,T2* input_3 ){
+        img.push_back(input_1);
+        img.push_back(input_2);
+        odom=input_3;
+    }
+    std::vector<T1>* read(){
+        return &img;
+    }
+    T2* read_odom(){
+        return odom;
+    }
+    int64_t time(){
+        return t;
+    }
+    std::pair<std::size_t,int64_t> config(){
+        return std::pair<std::size_t,int64_t>(img.size(),t);
+    }
+    private:
+    std::vector<T1> img;
+    T2* odom=nullptr;
+    int64_t t=0;
+};