class mrpt::apps::RBPF_SLAM_App_Base

Overview

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.