class mola::WheelOdometry

Overview

Simple SLAM FrontEnd for wheel odometry: creates SE(3) edges from odometry readings. More…

#include <WheelOdometry.h>

class WheelOdometry: public mola::FrontEndBase
{
public:
    // typedefs

    typedef mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel OdometryPlanarUncertaintyModel;

    // structs

    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();
};

Inherited Members

public:
    // methods

    virtual void onNewObservation(CObservation::Ptr& o) = 0;
    virtual void initialize_common(const Yaml& cfg);

Detailed Documentation

Simple SLAM FrontEnd for wheel odometry: creates SE(3) edges from odometry readings.

Fields

Parameters params_

Algorithm parameters

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