commrat::PrimaryInput< T > Struct Template Reference

Primary input designation for multi-input synchronization (Phase 6) More...

#include <commrat/module/io_spec.hpp>

Public Types
using	PayloadType = T

Detailed Description

template<typename T>
struct commrat::PrimaryInput< T >

Primary input designation for multi-input synchronization (Phase 6)

When a module has multiple continuous inputs (Inputs<T, U, V>), one must be designated as PRIMARY. The primary input drives execution - the module blocks waiting for primary input, then fetches time-synchronized secondary inputs using getData(timestamp).

Template Parameters

T	The payload type of the primary input (must be in Inputs<...>)

Example:

// IMU runs at 100Hz (fast), GPS at 10Hz (slow)
// Use IMU as primary to maintain high update rate
class SensorFusion : public Module<Registry,
                                   Output<FusedPose>,
                                   Inputs<IMUData, GPSData>,
                                   PrimaryInput<IMUData>> {
    FusedPose process(const IMUData& imu,      // PRIMARY - received (blocking)
                      const GPSData& gps)       // SECONDARY - fetched at imu.timestamp
        override {
        // Both inputs time-aligned to imu.timestamp
        return ekf_update(imu, gps);
    }
};

Definition at line 240 of file io_spec.hpp.

Member Typedef Documentation

PayloadType

template<typename T >

using commrat::PrimaryInput< T >::PayloadType = T

Definition at line 241 of file io_spec.hpp.

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The documentation for this struct was generated from the following file:

• commrat/module/io_spec.hpp