class mrpt::apps::KFSLAMApp

Overview

EKF-SLAM application wrapper class.

#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.