Class MaplabServerNode

Nested Relationships

Class Documentation

class maplab::MaplabServerNode

Public Types

enum MapLookupStatus

Values:

enumerator kSuccess
enumerator kNoSuchMission
enumerator kNoSuchSensor
enumerator kPoseNotAvailableYet
enumerator kPoseNeverAvailable

Public Functions

explicit MaplabServerNode()
~MaplabServerNode()
void start()
void shutdown()
bool loadAndProcessSubmap(const std::string &robot_name, const std::string &submap_path)
bool saveMap(const std::string &path)
bool saveMap()
MapLookupStatus mapLookup(const std::string &robot_name, const vi_map::SensorType sensor_type, const int64_t timestamp_ns, const Eigen::Vector3d &p_S, Eigen::Vector3d *p_G, Eigen::Vector3d *sensor_p_G) const
bool deleteMission(const std::string &partial_mission_id_string, std::string *status_message)
bool deleteAllRobotMissions(const std::string &robot_name, std::string *status_message)
bool getDenseMapInRange(const backend::ResourceType resource_type, const Eigen::Vector3d &center_G, const double radius_m, resources::PointCloud *point_cloud_G)
void visualizeMap()
void registerPoseCorrectionPublisherCallback(std::function<void(const int64_t, const std::string&, const aslam::Transformation&, const aslam::Transformation&, const aslam::Transformation&, const aslam::Transformation&)> callback)
void registerStatusCallback(std::function<void(const std::string&)> callback)

Protected Functions

void printAndPublishServerStatus()
void updateRobotInfoBasedOnSubmap(const SubmapProcess &submap_process)
void runSubmapProcessing(const SubmapProcess &submap_process)
bool deleteBlacklistedMissions()
bool appendAvailableSubmaps()
void saveMapEveryInterval()
void runOneIterationOfMapMergingAlgorithms()
void publishDenseMap()
void publishMostRecentVertexPoseAndCorrection()
bool isSubmapBlacklisted(const std::string &map_key)
struct RobotMissionInformation

Public Members

std::list<std::pair<vi_map::MissionId, bool>> mission_ids_with_baseframe_status
std::map<int64_t, aslam::Transformation> T_M_B_submaps_input
std::map<int64_t, aslam::Transformation> T_G_M_submaps_input