class mrpt::apps::RBPF_SLAM_App_Base
RBPF-SLAM virtual base class for application wrappers.
This virtual base provides the common code to the application rbpf-slam. It can be used by users to build their own RBPF-SLAM solution.
See also:
mrpt::slam::CMetricMapBuilderRBPF
#include <mrpt/apps/RBPF_SLAM_App.h> class RBPF_SLAM_App_Base: public mrpt::system::COutputLogger, public mrpt::apps::BaseAppInitializableCLI, public mrpt::apps::BaseAppDataSource { public: // fields mrpt::config::CConfigFileMemory params; bool quits_with_esc_key = true; // construction RBPF_SLAM_App_Base(); // methods void initialize(int argc, const char** argv); void run(); }; // direct descendants class RBPF_SLAM_App_Rawlog;
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.
bool quits_with_esc_key = true
If enabled (default), stdin will be watched and application quits if ESC is pressed.
Methods
void initialize(int argc, const char** argv)
Initializes the application from CLI parameters.
Refer to the manpage of rbpf-slam. Throws on errors.
void run()
Runs with the current parameter set.
Throws on errors.