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::Ptr map; std::optional<Georeferencing> georeferencing; std::optional<std::string> map_metadata; };
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::Ptr 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 Added in MOLA 1.7.0
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