function

SLAM.PoseGraph.RGBDGraphSelectedGauge.ContextFromLedger

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`previous`	`Context`
input	`ledger`	`RGBDGraphCaptureLedger.State`
input	`catalog`	`RGBDKeyframes.Catalog`
input	`graph`	`RGBDGraphMeasurements.State`
input	`sourceRevision`	`Integer`
input	`step`	`Integer`
input	`catalogPoseRevision`	`Integer`
input	`requested`	`Boolean`	`= true`
output	`context`	`Context`
output	`accepted`	`Boolean`
output	`reason`	`Integer`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function ContextFromLedger
    input Context previous;
    input RGBDGraphCaptureLedger.State ledger;
    input RGBDKeyframes.Catalog catalog;
    input RGBDGraphMeasurements.State graph;
    input Integer sourceRevision; input Integer step; input Integer catalogPoseRevision;
    input Boolean requested = true;
    output Context context; output Boolean accepted; output Integer reason;
  protected Boolean valid;
  algorithm
    context := previous; accepted := false; reason := 1;
    if requested then
      reason := 2;
      valid := RGBDGraphCaptureLedger.Valid(ledger,catalog,sourceRevision,step);
      if valid then
        reason := 3;
        valid := graph.generation == catalog.generation
          and graph.revision > 0 and graph.revision <= identifierLimit
          and catalogPoseRevision >= 0 and catalogPoseRevision < identifierLimit;
      end if;
      if valid then
        context.generation := catalog.generation; context.sourceRevision := sourceRevision;
        context.graphRevision := graph.revision; context.catalogPoseRevision := catalogPoseRevision;
        context.captureIds := ledger.ids; context.captureSequences := ledger.sequences;
        accepted := true; reason := 0;
      end if;
    end if;
  end ContextFromLedger;