class mola::LidarOdometry¶
Overview¶
A front-end for Lidar/point-cloud odometry & SLAM. More…
#include <LidarOdometry.h> class LidarOdometry: public mola::FrontEndBase { public: // typedefs typedef std::size_t topological_dist_t; // enums enum AlignKind; // structs struct ICP_Input; struct ICP_Output; struct MethodState; struct Parameters; // fields Parameters params_; // methods virtual void initialize(const Yaml& cfg); virtual void spinOnce(); virtual void onNewObservation(CObservation::Ptr& o); void reset(); void run_one_icp( const ICP_Input& in, ICP_Output& out ); const MethodState& state() const; MethodState stateCopy() const; };
Inherited Members¶
public: // methods virtual void onNewObservation(CObservation::Ptr& o) = 0; virtual void initialize_common(const Yaml& cfg);
Detailed Documentation¶
A front-end for Lidar/point-cloud odometry & SLAM.
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.
void reset()
Re-initializes the front-end