Class DataPublisherFlow

• Defined in File data-publisher-flow.h

Class Documentation

class maplab::DataPublisherFlow

Public Functions

explicit DataPublisherFlow(const vi_map::SensorManager &sensor_manager)

void attachToMessageFlow(message_flow::MessageFlow *flow)

void visualizeMap(const vi_map::VIMap &vi_map) const

Public Members

const std::string kTopicPoseMission = "T_M_B"

const std::string kTopicPoseGlobal = "T_G_I"

const std::string kTopicBaseframe = "T_G_M"

const std::string kTopicVelocity = "velocity_I"

const std::string kTopicBiasAcc = "bias_acc"

const std::string kTopicBiasGyro = "bias_gyro"

const std::string kCameraExtrinsicTopic = "cam_T_C_B"

const std::string kTopicLocalizationResult = "localization_T_G_B"

const std::string kTopicLocalizationResultFused = "localization_fused_T_G_B"