class mrpt::apps::KFSLAMApp
Overview
EKF-SLAM application wrapper class.
See also:
mrpt::slam::CRangeBearingKFSLAM2D, mrpt::slam::CRangeBearingKFSLAM
#include <mrpt/apps/KFSLAMApp.h> class KFSLAMApp: public mrpt::system::COutputLogger { public: // fields mrpt::config::CConfigFileMemory params; std::string rawlogFileName; double loc_error_wrt_gt = 0; // construction KFSLAMApp(); // methods void initialize(int argc, const char** argv); void initialize( int argc, char** argv ); void run(); };
Inherited Members
public: // structs struct TMsg;
Fields
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
double loc_error_wrt_gt = 0
Average localization error, when supplied with a ground-truth file.
Methods
void initialize(int argc, const char** argv)
Initializes the application from CLI parameters.
Refer to the manpage of kf-slam. Throws on errors.
void run()
Runs with the current parameter set.
Throws on errors.