glim::SubMappingBase Class Reference

Sub mapping base class. More...

#include <sub_mapping_base.hpp>

Inheritance diagram for glim::SubMappingBase:

Public Member Functions
virtual void	insert_imu (const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel)
	Insert an IMU data.
virtual void	insert_frame (const EstimationFrame::ConstPtr &frame)
	Insert an odometry estimation frame.
virtual std::vector< SubMap::Ptr >	get_submaps ()=0
	Get the created submaps.
virtual std::vector< SubMap::Ptr >	submit_end_of_sequence ()
	Submit the signal to tell end of sequence and collect the remaining submap data.

Static Public Member Functions
static std::shared_ptr< SubMappingBase >	load_module (const std::string &so_name)
	Load a sub mapping module from a shared library.

Protected Attributes
std::shared_ptr< spdlog::logger >	logger

Detailed Description

Sub mapping base class.

Member Function Documentation

get_submaps()

virtual std::vector< SubMap::Ptr > glim::SubMappingBase::get_submaps ( )

pure virtual

Get the created submaps.

Returns

Created submaps

Implemented in glim::SubMapping, and glim::SubMappingPassthrough.

insert_frame()

virtual void glim::SubMappingBase::insert_frame ( const EstimationFrame::ConstPtr &  frame )

virtual

Insert an odometry estimation frame.

Parameters

odom_frame

Marginalized odometry estimation frame

Reimplemented in glim::SubMapping, and glim::SubMappingPassthrough.

insert_imu()

virtual void glim::SubMappingBase::insert_imu ( const double  stamp, const Eigen::Vector3d &  linear_acc, const Eigen::Vector3d &  angular_vel  )

virtual

Insert an IMU data.

Parameters

stamp	Timestamp
linear_acc	Linear acceleration
angular_vel	Angular velocity

Reimplemented in glim::SubMapping.

load_module()

static std::shared_ptr< SubMappingBase > glim::SubMappingBase::load_module ( const std::string &  so_name )

static

Load a sub mapping module from a shared library.

Parameters

so_name

Shared library name

Returns

Loaded sub mapping module

submit_end_of_sequence()

virtual std::vector< SubMap::Ptr > glim::SubMappingBase::submit_end_of_sequence ( )

inlinevirtual

Submit the signal to tell end of sequence and collect the remaining submap data.

Returns

std::vector<SubMap::Ptr>

Reimplemented in glim::SubMapping, and glim::SubMappingPassthrough.

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The documentation for this class was generated from the following file:

• /home/runner/work/glim/glim/include/glim/mapping/sub_mapping_base.hpp