Class KFSLAMApp

Inheritance Relationships

Base Type

  • public mrpt::system::COutputLogger

Class Documentation

class KFSLAMApp : public mrpt::system::COutputLogger

EKF-SLAM application wrapper class.

See also

mrpt::slam::CRangeBearingKFSLAM2D, mrpt::slam::CRangeBearingKFSLAM

Parameters and options. See: initialize()

mrpt::config::CConfigFileMemory params

Populated in initialize(). Can be replaced or manipulated by the user after that and before run() to change the parameters loaded from INI file.

std::string rawlogFileName

rawlog to process

Outputs and result variables

double loc_error_wrt_gt = 0

Average localization error, when supplied with a ground-truth file

Main API

void initialize(int argc, const char **argv)

Initializes the application from CLI parameters. Refer to the manpage of kf-slam. Throws on errors.

inline void initialize(int argc, char **argv)
void run()

Runs with the current parameter set. Throws on errors.

Public Functions

KFSLAMApp()