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.
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