Class LocalizationSourceBase

Nested Relationships

Nested Types

Class Documentation

class LocalizationSourceBase

Virtual interface for SLAM/odometry methods publishing poses.

Publishers must call advertiseUpdatedLocalization(), subscribers must call subscribeToLocalizationUpdates() providing a callback that returns as fast as possible.

Public Types

using localization_updates_callback_t = std::function<void(const LocalizationUpdate&)>

Public Functions

LocalizationSourceBase() = default
virtual ~LocalizationSourceBase() = default
inline void subscribeToLocalizationUpdates(const localization_updates_callback_t &callback)

Protected Functions

inline bool anyUpdateLocalizationSubscriber()
inline void advertiseUpdatedLocalization(const LocalizationUpdate &l)
struct LocalizationUpdate

Public Functions

LocalizationUpdate() = default

Public Members

mrpt::Clock::time_point timestamp

The timestamp associated to the new KeyFrame localization.

std::string reference_frame = "map"

Vehicle/robot pose is given wrt this frame of reference

std::string method = "slam"

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

mrpt::math::TPose3D pose
std::optional<mrpt::math::CMatrixDouble66> cov