Remove FindGTSAM.cmake

docs/extensions.md

@@ -46,7 +46,7 @@ colcon build
 
 ### Global optimization modules
 
-#### [GNSS constraints](https://github.com/koide3/glim_ext/tree/master/modules/mapping/gnss_backend) [ROS1 only]
+#### [GNSS constraints](https://github.com/koide3/glim_ext/tree/master/modules/mapping/gnss_global) [ROS2 only]
 
 - Naive implementation of GNSS global optimization constraints
 

include/glim/util/interpolation_helper.hpp

@@ -29,9 +29,18 @@ class InterpolationHelper {
   InterpolationHelper(InterpolationHelperSearchMode search_mode = InterpolationHelperSearchMode::LINEAR) : search_mode(search_mode) {}
   ~InterpolationHelper() {}
 
+  /// @brief Check if it's emptry.
+  bool empty() const { return values.empty(); }
+
   /// @brief Number of queued values.
   int size() const { return values.size(); }
 
+  /// @brief Oldest timestamp in the queue
+  double leftmost_time() const { return values.empty() ? 0.0 : values.front().first; }
+
+  /// @brief Newest timestamp in the queue
+  double rightmost_time() const { return values.empty() ? 0.0 : values.back().first; }
+
   /// @brief Add a new value.
   /// @param stamp  Timestamp
   /// @param value  Value

src/glim/util/logging.cpp

@@ -36,7 +36,7 @@ std::shared_ptr<spdlog::logger> create_module_logger(const std::string& module_n
   if (get_default_logger()->level() < spdlog::level::info) {
     auto file_sink = std::make_shared<spdlog::sinks::basic_file_sink_mt>("/tmp/glim_" + module_name + ".log", true);
     logger->sinks().push_back(file_sink);
-    logger->set_level(spdlog::level::trace);
+    logger->set_level(get_default_logger()->level());
   }
 
   return logger;