class mola::BackEndBase¶
Overview¶
Virtual interface for SLAM back-ends. More…
#include <BackEndBase.h> class BackEndBase: public mola::ExecutableBase { public: // structs struct AddFactor_Output; struct AdvertiseUpdatedLocalization_Input; struct ProposeKF_Input; struct ProposeKF_Output; // methods 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 initialize(const Yaml& cfg); virtual void onQuit(); }; // direct descendants class ASLAM_gtsam; class RSLAM_gtsam;
Detailed Documentation¶
Virtual interface for SLAM back-ends. All calls to onXXX()
methods are enqueued and executed in a separate thread.
Methods¶
virtual void initialize(const Yaml& cfg)
This should be reimplemented to read all the required parameters
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.