Class MapSourceBase

Nested Relationships

Nested Types

Class Documentation

class MapSourceBase

Virtual interface for SLAM/odometry methods publishing a map and/or georeferencing information.

Public Types

using map_updates_callback_t = std::function<void(const MapUpdate&)>

Public Functions

MapSourceBase() = default
inline void subscribeToMapUpdates(const map_updates_callback_t &callback)

Protected Functions

inline bool anyUpdateMapSubscriber()
inline void advertiseUpdatedMap(const MapUpdate &l)
struct MapUpdate

Public Functions

MapUpdate() = default

Public Members

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

Note

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.

Note

Added in MOLA 1.9.0