class mola::BackEndBase

Overview

Virtual interface for SLAM back-ends. All calls to onXXX() methods are enqueued and executed in a separate thread.

#include <BackEndBase.h>

class BackEndBase: public mola::ExecutableBase
{
public:
    // structs

    struct AddFactor_Output;
    struct AdvertiseUpdatedLocalization_Input;
    struct ProposeKF_Input;
    struct ProposeKF_Output;

    // fields

    std::function<Ptr(const std::string&)> nameServer_;
    std::optional<ProfilerSaverAtDtor> profiler_dtor_save_stats_;
    Profiler profiler_ {false};

    // methods

    std::future<ProposeKF_Output> addKeyFrame(const ProposeKF_Input& i);
    std::future<AddFactor_Output> addFactor(Factor& f);
    std::future<void> advertiseUpdatedLocalization(const AdvertiseUpdatedLocalization_Input& l);
    virtual ProposeKF_Output doAddKeyFrame(const ProposeKF_Input& i) = 0;
    virtual AddFactor_Output doAddFactor(Factor& f) = 0;
    virtual void doAdvertiseUpdatedLocalization(const AdvertiseUpdatedLocalization_Input& l) = 0;
    virtual void spinOnce() = 0;
    virtual int launchOrderPriority() const;
    virtual void onQuit();
    mrpt::containers::yaml getModuleParameters() const;

    template <class Interface>
    std::vector<Ptr> findService() const;

    virtual void initialize(const Yaml& cfg);

    virtual void onSmartFactorChanged(
        ] mola::fid_t id,
        ] const mola::FactorBase* f
        );

    virtual mola::id_t temp_createStereoCamera(
        ] const mrpt::img::TCamera& left,
        ] const mrpt::img::TCamera& right,
        ] const double baseline
        );

    virtual mola::id_t temp_createLandmark(] const mrpt::math::TPoint3D& init_value);
    virtual void lock_slam();
    virtual void unlock_slam();
    Ptr getAsPtr();
    static Ptr Factory(const std::string& classname);
};

Inherited Members

public:
    // structs

    struct DiagnosticsOutput;

    // methods

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

Fields

std::function<Ptr(const std::string&)> nameServer_

A name server function to search for other ExecutableBase objects in my running system. Empty during ctor, should be usable from initialize_common() and initialize(). In a standard system, this is implemented by MolaLauncherApp::nameServerImpl()

Methods

std::future<ProposeKF_Output> addKeyFrame(const ProposeKF_Input& i)

Creates a new KeyFrame in the world model.

std::future<AddFactor_Output> addFactor(Factor& f)

Adds a new constraint factor to the world model. Note that the object is moved, so it will not hold a valid value upon return.

virtual void spinOnce() = 0

Runs any required action on a timely manner

virtual int launchOrderPriority() const

Modules will be initialized in the order determined by:

First: the “order priority”, which is the number returned here.
Second: modules with the same “priority”, will be sorted by ascending lexicographical order or their “instance names”.

virtual void onQuit()

Called while destroying the SLAM system. A perfect placeholder for saving data to filesystem, clean up, etc. before any module destructor has been actually beeing invoked.

mrpt::containers::yaml getModuleParameters() const

Returns the current list of all known parameters and their values, in the same format than used in exposeParameters(). An empty YAML map will be returned if no parameter exists. New in MOLA v1.4.0