In the multi-trajectory case, other trajectories should not influence which
data gets dropped. This is especially the case if all trajectories are
added before any of their data. In this case, data before the start of the
last trajectory was dropped.
We drop as much data from each queue as possible without changing the
start time that would be determined if we only saw the dispatched
data, i.e. we retain one piece of data not beyond the common start time.
This makes the process idempotent.
The sensor collator now finds a common starting time for all sensor
data. For example, this prevents us from processing arbitrarily many IMU
packets before our first scan match and makes it possible to auto pause
and resume a trajectory in the event of sensor data interruption.
Wolfgang Hess
Damon Kohler
Damon Kohler
Holger Rapp