Class MolaLauncherApp

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

  • public mrpt::system::COutputLogger

Class Documentation

class MolaLauncherApp : public mrpt::system::COutputLogger

Main launcher for a MOLA system. See mola-cli for a ready-to-use program.

SLAM system setup

void setup(const mrpt::containers::yaml &cfg, const std::optional<std::string> &basePath = std::nullopt)

Prepares the SLAM system based on a YAML configuration file. See [mola]/demos/ for example YAML files. At this point, MOLA module libraries are searched in a list of paths and loaded for their classes to be available in name-based class factories. Modules must be named “libmola*” to be loaded.

See also

addPathModuleLibs, scanAndLoadLibraries

void spin()

(Blocking call) Launch sensor and worker threads and enters into an infinite loop executing the SLAM system, until shutdown() is called (e.g. from another thread or a signal handler).

void shutdown()

Attempts to do a clean shutdown of the system, giving all threads an opportunity to end and save any pending data, etc.

See also

spin()

MOLA module listing, paths, finding, etc.

void addPathModuleLibs(const std::string &path)

Adds a directory to the list of paths to search for MOLA modules (.so/.dll) when setup() is called. The environment variable MOLA_MODULES_LIB_PATH (path1[:path2[:...]]) is automatically added at class construction.

Note

Default is CMAKE_LIBRARY_OUTPUT_DIRECTORY.

void addPathModuleSources(const std::string &path)

Adds a directory to the list of paths to search for MOLA module source and shared files. The environment variable MOLA_MODULES_SHARED_PATH (path1[:path2[:...]]) is automatically added at class construction.

Note

Default is ${MOLA_SOURCE_DIR}/modules/

inline std::vector<std::string> getModuleLibPaths() const

Returns a copy of the current list of paths in which this object will try to look for MOLA modules compiled binaries.

See also

addPathModuleLibs

inline std::vector<std::string> getModuleSourcePaths() const

Returns a copy of the current list of paths in which this object will try to look for MOLA modules shared files.

See also

addPathModuleSources

std::vector<std::string> getLoadedModules()

Returns the current list of loaded module dynamic libraries.

std::string findModuleSharedDir(const std::string &moduleName) const

Returns the absolute path of the root directory where the given module shared files can be found. For BUILD_INTERFACE, this should be the root of each repository source. For INSTALL_INTERFACE, it should be <INSTALL_PREFIX>/share/<MODULE_NAME>/

Returns an empty string if module is not found.

See also

scanForModuleSharedDirectories() to search for all module paths.

Public Types

using module_name_t = std::string
using module_shared_path_t = std::string

Public Functions

MolaLauncherApp()
virtual ~MolaLauncherApp()
void scanAndLoadLibraries()

Scans and loads MOLA module libraries. This is automatically called within setup(), but it’s provided here in case a user want to only load modules for use the RTTI machinery on them without setting up a complete SLAM system.

See also

addPathModuleLibs, setup

std::map<module_name_t, module_shared_path_t> scanForModuleSharedDirectories() const

Scans the shared directories and returns a list with found modules and their shared directory.

Public Members

mrpt::system::CTimeLogger profiler_ = {true, "MolaLauncherApp"}

Time profiler. It’s enabled/disabled status will be inherited (by default, unless set otherwise in their YAML config files) by all modules created upon the call to setup()

std::optional<ProfilerSaverAtDtor> profiler_dtor_save_stats_

Enabled from mola-cli with --profiler-whole to save full profile stats to .m files at program end.

Parameters launcher_params_
struct Parameters

Public Members

bool enforce_initialize_one_at_a_time = {false}