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.