struct mola::MapSourceBase::MapUpdate

Overview

#include <MapSourceBase.h>

struct MapUpdate
{
    // fields

    mrpt::Clock::time_point timestamp;
    std::string reference_frame = "map";
    std::string method = "slam";
    std::string map_name = "local_map";
    mrpt::maps::CMetricMap::ConstPtr map;
    std::optional<Georeferencing> georeferencing;
    std::optional<std::string> map_metadata;
    bool keep_last_one_only = true;
};

Fields

mrpt::Clock::time_point timestamp

The timestamp associated to the new map information.

std::string reference_frame = "map"

Frame of reference for this map.

std::string method = "slam"

The source of the localization (e.g. “slam”, “lidar_odometry”, “wheel_odometry”, etc.)

std::string map_name = "local_map"

Map layer/submap name

mrpt::maps::CMetricMap::ConstPtr map

Might be null if georeferencing is provided, but both can be also populated.

std::optional<Georeferencing> georeferencing

If the map is georeferenced, its metadata

std::optional<std::string> map_metadata

Optional metadata associated to the map, e.g. a JSON or YAML string. It will contain the information in the “metadata” field of mp2p_icp::metric_map_t when loading a *.mm metric map file and publishing it. Added in MOLA 1.9.0

bool keep_last_one_only = true

If true, the map update invalidates all previous maps from the same source/method in queue. Set to false for very fast maps that need to be aggregated over short periods of time. Added in MOLA 2.1.0