Class MaplabServerNode

• Defined in File maplab-server-node.h

Nested Relationships

Nested Types

• Struct MaplabServerNode::RobotMissionInformation

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