class mola::G2ODataset

Overview

“Fake” SLAM FrontEnd for reading from a G2O dataset file Send a new observation at each spinOnce() call. More…

#include <G2ODataset.h>

class G2ODataset: public mola::FrontEndBase
{
public:
    // methods

    virtual void initialize(const Yaml& cfg);
    virtual void spinOnce();
    virtual void onNewObservation(CObservation::Ptr& o);
};

Inherited Members

public:
    // methods

    virtual void onNewObservation(CObservation::Ptr& o) = 0;
    virtual void initialize_common(const Yaml& cfg);

Detailed Documentation

“Fake” SLAM FrontEnd for reading from a G2O dataset file Send a new observation at each spinOnce() call. That is, the rate [Hz] at which edges are sent to the SLAM back-end is the execution rate of this module (per the YAML config file).

Methods

virtual void initialize(const Yaml& cfg)

This should be reimplemented to read all the required parameters

virtual void onNewObservation(CObservation::Ptr& o)

To be called whenever a new observation arrives. It should return as fast as possible, enqueuing the data for processing in another thread.