Filtering

TODO: Elaborate

• FutureQueue/Filtering
  • Overview: Time diagram/plot
  • Motivation: Filters need to have monotonic updates
    • What needs a filter node to do in each cycle?
      • Roll-back temporary measurements from last cycle
      • Apply persistent measurements
      • Temporarily apply temporary measurements
  • FutureQueue (each Perception Cycler has one to communicate to Control)
    • Producer
      • announce
      • finalize
    • Consumer
      • consume
  • PersistentDatabases consumes from multiple FutureQueues and reorganizes data
    • persistent vs. temporary
  • PersistentInputs (Interface for the filter nodes)
    • persistent vs. temporary