template class CGraphSlamHandler

Overview

Manage variables and methods related to applications executing graphSLAM using the mrpt-graphslam API.

CGraphSlamHandler class instances deal with the following:

Manage user interaction with the visuals (e.g. CDisplayWindow instance)
Manage general user options (e.g. user output directory preferences)

#include <mrpt/graphslam/apps_related/CGraphSlamHandler.h>

template <class GRAPH_T = mrpt::graphs::CNetworkOfPoses2DInf>
class CGraphSlamHandler
{
public:
    // construction

    CGraphSlamHandler(
        mrpt::system::COutputLogger* logger,
        mrpt::graphslam::apps::TUserOptionsChecker<GRAPH_T>* options_checker,
        const bool enable_visuals = true
        );

    // methods

    void getParamsAsString(std::string* str) const;
    std::string getParamsAsString() const;

    void setFNames(
        const std::string& ini_fname,
        const std::string& rawlog_fname,
        const std::string& ground_truth_fname = std::string()
        );

    void printParams() const;
    void initVisualization();
    void execute();

    void initEngine(
        const std::string& node_reg_str,
        const std::string& edge_reg_str,
        const std::string& optimizer_str
        );

    void setResultsDirName(const std::string& dirname);
};

Methods

void getParamsAsString(std::string* str) const

Fetch the general configuraiton variables for the current graphSLAM execution.

void setFNames(
    const std::string& ini_fname,
    const std::string& rawlog_fname,
    const std::string& ground_truth_fname = std::string()
    )

Set the relevant filenames for instantiating CGraphSlamEngine instance.

void printParams() const

Print in a formatted manner the general configuraiton variables for the current graphSLAM execution.