Class MapSourceBase

Defined in File MapSourceBase.h

Nested Relationships

Nested Types

Struct MapSourceBase::MapUpdate

Class Documentation

class MapSourceBase

Virtual interface for SLAM/odometry methods publishing a map

Public Types

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

Public Functions

MapSourceBase() = default

virtual ~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