class mrpt::apps::ICP_SLAM_App_Base


ICP-SLAM virtual base class for application wrappers.

This virtual base provides the common code to the applications icp-slam and icp-slam-live, and could be used by users to build their own ICP-SLAM solution.

See also:


#include <mrpt/apps/ICP_SLAM_App.h>

class ICP_SLAM_App_Base:
    public mrpt::system::COutputLogger,
    public mrpt::apps::BaseAppInitializableCLI,
    public mrpt::apps::BaseAppDataSource
    // fields

    mrpt::config::CConfigFileMemory params;
    bool quits_with_esc_key = true;

    // construction


    // methods

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

// direct descendants

class ICP_SLAM_App_Live;
class ICP_SLAM_App_Rawlog;

Inherited Members

    // structs

    struct TMsg;


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.


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

Initializes the application from CLI parameters.

Refer to the manpage of icp-slam and icp-slam-live. Throws on errors.

void run()

Runs with the current parameter set.

Throws on errors.