class mola::RSLAM_gtsam¶
Overview¶
Reference implementation of relative SLAM with GTSAM factor graphs See docs in: mola-slam-gtsam More…
#include <RSLAM_gtsam.h> class RSLAM_gtsam: public mola::BackEndBase { public: // methods std::future<void> advertiseUpdatedLocalization(const AdvertiseUpdatedLocalization_Input& l); virtual void initialize(const Yaml& cfg); virtual void spinOnce(); virtual ProposeKF_Output doAddKeyFrame(const ProposeKF_Input& i); virtual AddFactor_Output doAddFactor(Factor& f); virtual void doAdvertiseUpdatedLocalization(const AdvertiseUpdatedLocalization_Input& l); virtual void onSmartFactorChanged( ] mola::fid_t id, ] const mola::FactorBase* f ); virtual mola::id_t temp_createLandmark(] const mrpt::math::TPoint3D& init_value); virtual void lock_slam(); virtual void unlock_slam(); };
Inherited Members¶
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();
Detailed Documentation¶
Reference implementation of relative SLAM with GTSAM factor graphs See docs in: mola-slam-gtsam