Class WorldModelData

Inheritance Relationships

Base Type

  • public mrpt::serialization::CSerializable

Class Documentation

class WorldModelData : public mrpt::serialization::CSerializable

A serializable data container for all WorldModel data (i.e. a “map”)

Public Members

std::string map_name_

Arbitrary map name, used as directory prefix for saving to disk, for example. It is populated at ctor with the date and time.

std::unique_ptr<EntitiesContainer> entities_

All keyframes, relative and absolute poses, calibration parameter sets, etc. that can be stored in a world model. Indexed by a unique id_t;

entity_connected_factors_t entity_connected_factors_
std::shared_mutex entities_mtx_
std::unique_ptr<FactorsContainer> factors_

All observations, constraints, etc. as generic “factors”. Indexed by a unique fid_t;

std::shared_mutex factors_mtx_
mutable mola::fast_map<id_t, mrpt::Clock::time_point> entity_last_access_
std::shared_mutex entity_last_access_mtx_