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

Methods

virtual void initialize(const Yaml& cfg)

This should be reimplemented to read all the required parameters