class mola::LocalizationSourceBase

Overview

Virtual interface for SLAM/odometry methods publishing poses.

Publishers must call advertiseUpdatedLocalization(), subscribers must call subscribeToLocalizationUpdates() providing a callback that returns as fast as possible.

#include <LocalizationSourceBase.h>

class LocalizationSourceBase
{
public:
    // typedefs

    typedef std::function<void(const LocalizationUpdate&)> localization_updates_callback_t;

    // structs

    struct LocalizationUpdate;

    // methods

    void subscribeToLocalizationUpdates(const localization_updates_callback_t& callback);
};

// direct descendants

class LidarOdometry;