namespace mola

Overview

namespace mola {

// typedefs

typedef std::variant<std::monostate, SensorCamera, SensorIMU> SensorEntry;
typedef uint64_t euroc_timestamp_t;
typedef std::multimap<euroc_timestamp_t, SensorEntry> euroc_dataset_t;
typedef std::shared_ptr<EntityBase> EntityOther;
typedef std::map<std::string, LazyLoadResource> annotations_data_t;
typedef std::variant<std::monostate, RefPose3, RelPose3, RelPose3KF, RelDynPose3KF, LandmarkPoint3, EntityOther> Entity;
typedef std::variant<std::monostate, FactorRelativePose3, FactorConstVelKinematics, FactorStereoProjectionPose, SmartFactorStereoProjectionPose, SmartFactorIMU, FactorOther> Factor;
typedef std::shared_ptr<FactorBase> FactorOther;
typedef std::allocator<T> FastAllocator;
typedef std::set<T, Compare, FastAllocator<T>> fast_set;
typedef std::map<Key, T, Compare, FastAllocator<std::pair<const Key, T>>> fast_map;
typedef std::uint64_t id_t;
typedef std::uint64_t fid_t;
typedef mrpt::system::CTimeLogger Profiler;
typedef mrpt::system::CTimeLoggerEntry ProfilerEntry;
typedef mrpt::system::CTimeLoggerSaveAtDtor ProfilerSaverAtDtor;
typedef mrpt::poses::CPose3DInterpolator trajectory_t;
typedef mrpt::obs::CObservation CObservation;
typedef std::size_t timestep_t;
typedef mola::fast_map<id_t, mola::fast_set<fid_t>> entity_connected_factors_t;
typedef mrpt::containers::yaml Yaml;
typedef ContainerDeque<Entity, WorldModelData::EntitiesContainer, EntityBase, EntityOther, id_t> EntitiesContainerDeque;
typedef ContainerDeque<Factor, WorldModelData::FactorsContainer, FactorBase, FactorOther, fid_t> FactorsContainerDeque;
typedef ContainerFastMap<Entity, WorldModelData::EntitiesContainer, EntityBase, EntityOther, id_t, e_str> EntitiesContainerFastMap;
typedef ContainerFastMap<Factor, WorldModelData::FactorsContainer, FactorBase, FactorOther, fid_t, f_str> FactorsContainerFastMap;

// enums

enum Robust;

// structs

template <class T, class BASE, class Tbase, class Tother, typename ID>
struct ContainerDeque;

template <
    class T,
    class BASE,
    class Tbase,
    class Tother,
    typename ID,
    const char* Tstr
    >
struct ContainerFastMap;

struct NavState;
struct RelocalizationICP_SE2;
struct RelocalizationLikelihood_SE2;
struct SensorCamera;
struct SensorIMU;
struct StereoObservation;
struct YAMLParseOptions;

template <typename cell_coord_t = int32_t>
struct index3d_hash;

template <typename cell_coord_t = int32_t>
struct index3d_t;

template <typename cell_coord_t = int32_t>
struct index_se3_t;

template <typename cell_coord_t = int32_t>
struct index_se3_t_hash;

template <class... Ts>
struct overloaded;

// classes

class BackEndBase;
class BridgeROS2;
class Dataset_UI;
class EntityBase;
class EntityRelativeBase;
class EurocDataset;
class ExecutableBase;
class FactorAngularVelocityIntegration;
class FactorBase;
class FactorConstAngularVelocity;
class FactorConstVelKinematics;
class FactorRelativePose3;
class FactorStereoProjectionPose;
class FactorTrapezoidalIntegrator;
class FilterBase;

template <typename T, size_t SIDE_NUM_BITS, typename inner_coord_t>
class FixedDenseGrid3D;

class FrontEndBase;
class HashedSetSE3;
class HashedVoxelPointCloud;
class IMUIntegrationParams;
class KeyFrameBase;
class Kitti360Dataset;
class KittiOdometryDataset;
class LandmarkPoint3;
class LazyLoadResource;
class LidarOdometry;
class LocalizationSourceBase;
class MapServer;
class MapSourceBase;
class MolaLauncherApp;
class MolaViz;
class MulranDataset;
class NDT;
class NavStateFG;
class NavStateFGParams;
class NavStateFilter;
class NavStateFuse;
class NavStateFuseParams;
class OccGrid;
class OfflineDatasetSource;
class ParisLucoDataset;
class RawDataConsumer;
class RawDataSourceBase;
class RawlogDataset;
class RefPose3;
class RelDynPose3KF;
class RelPose3;
class RelPose3KF;
class Relocalization;
class Rosbag2Dataset;
class RotationIntegrationParams;
class RotationIntegrator;
class SearchablePoseList;
class SmartFactorIMU;
class SmartFactorStereoProjectionPose;
class SparseTreesPointCloud;
class SparseVoxelPointCloud;
class VizInterface;
class WorldModel;
class WorldModelData;

// global variables

constexpr id_t INVALID_ID = std::numeric_limits<id_t>::max();
constexpr fid_t INVALID_FID = std::numeric_limits<fid_t>::max();
static const char e_str[] = "Entity";
static const char f_str[] = "Factor";

// global functions

mrpt::math::CMatrixDouble33 incremental_rotation(
    const mrpt::math::TVector3D& w,
    const RotationIntegrationParams& params,
    double dt,
    const mrpt::optional_ref<mrpt::math::CMatrixDouble33>& D_incrR_integratedOmega = std::nullopt
    );

EntityBase& entity_get_base(Entity& e);
const EntityBase& entity_get_base(const Entity& e);
mrpt::math::TPose3D entity_get_pose(const Entity& e);
mrpt::math::TTwist3D entity_get_twist(const mola::Entity& e);

void entity_update_pose(
    Entity& e,
    const mrpt::math::TPose3D& p
    );

void entity_update_vel(
    Entity& e,
    const std::array<double, 3>& v
    );

mrpt::Clock::time_point entity_get_timestamp(const Entity& e);
FactorBase& factor_get_base(Factor& f);
const FactorBase& factor_get_base(const Factor& f);

void pretty_print_exception(
    const std::exception& e,
    const std::string& headerLine,
    const bool use_std_cerr = true
    );

template <class... Ts>
overloaded(Ts...);

template <typename cell_coord_t>
std::ostream& operator << (
    std::ostream& o,
    const index3d_t<cell_coord_t>& idx
    );

template <typename cell_coord_t>
std::ostream& operator << (
    std::ostream& o,
    const index_se3_t<cell_coord_t>& idx
    );

auto find_best_poses_se2(const mrpt::poses::CPosePDFGrid& grid, const double percentile = 0.99);
std::string parse_yaml(const std::string& text, const YAMLParseOptions& opts = YAMLParseOptions());

mrpt::containers::yaml parse_yaml(
    const mrpt::containers::yaml& input,
    const YAMLParseOptions& opts = YAMLParseOptions()
    );

mrpt::containers::yaml load_yaml_file(const std::string& fileName, const YAMLParseOptions& opts = YAMLParseOptions());
std::string yaml_to_string(const mrpt::containers::yaml& cfg);

} // namespace mola

Typedefs

typedef std::shared_ptr<FactorBase> FactorOther

Placeholder for a generic factor of user-defined types

typedef mrpt::poses::CPose3DInterpolator trajectory_t

We reuse mrpt::poses::CPose3DInterpolator as a time-indexed map of SE(3) poses

typedef std::size_t timestep_t

0-based indices of observations in a dataset

typedef mrpt::containers::yaml Yaml

Convenient typedef to save typing in the MOLA project.

Global Functions

mrpt::math::CMatrixDouble33 incremental_rotation(
    const mrpt::math::TVector3D& w,
    const RotationIntegrationParams& params,
    double dt,
    const mrpt::optional_ref<mrpt::math::CMatrixDouble33>& D_incrR_integratedOmega = std::nullopt
    )

This takes a gyroscope measurement of the angular velocity (ω) and integrates it forward in time for a period dt [s] as:

Rot = Exp((ω-ω_{bias})·dt)

FactorBase& factor_get_base(Factor& f)

Return a reference to the FactorBase associated to the variant f

const FactorBase& factor_get_base(const Factor& f)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

template <class... Ts>
overloaded(Ts...)

Based on https://en.cppreference.com/w/cpp/utility/variant/visit