function

SLAM.LoopClosure.RGBDKeyframes.Lookup

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type
input	`state`	`Catalog`
input	`generation`	`Integer`
input	`id`	`Integer`
output	`frame`	`Frame`
output	`found`	`Boolean`
output	`slot`	`Integer`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function Lookup
    input Catalog state;
    input Integer generation;
    input Integer id;
    output Frame frame;
    output Boolean found;
    output Integer slot;
  protected
    Integer proposedSlot;
  algorithm
    frame := EmptyFrame();
    found := false;
    slot := 0;
    if generation == state.generation and id >= 1 and id < state.nextId and ValidHeader(state) then
      proposedSlot := mod(id-1,keyframeCapacity)+1;
      if state.occupied[proposedSlot] and state.ids[proposedSlot] == id then
        frame := ReadSlot(state,proposedSlot);
        found := true;
        slot := proposedSlot;
      end if;
    end if;
  end Lookup;