class mola::ExecutableBase

Overview

Base virtual class for all executable (nodelet-like) units inside a SLAM system.

#include <ExecutableBase.h>

class ExecutableBase:
    public mrpt::system::COutputLogger,
    public mrpt::rtti::CObject,
    private std::enable_shared_from_this< ExecutableBase >
{
public:
    // structs

    struct DiagnosticsOutput;

    // construction

    ExecutableBase();
    ExecutableBase(const ExecutableBase&);
    ExecutableBase(ExecutableBase&&);

    // methods

    virtual void initialize(const Yaml& cfg) = 0;
    virtual void spinOnce() = 0;
    ExecutableBase& operator = (const ExecutableBase&);
    ExecutableBase& operator = (ExecutableBase&&);
};

// direct descendants

class FrontEndBase;
class MolaViz;
class NavStateFilter;
class RawDataSourceBase;

Methods

virtual void initialize(const Yaml& cfg) = 0

This must be implemented to read all the required parameters

This should be reimplemented to read all the required parameters

virtual void spinOnce() = 0

Runs any required action on a timely manner