Class MaplabServerNode¶
Defined in File maplab-server-node.h
Class Documentation¶
-
class maplab::MaplabServerNode¶
Public Types
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 ¢er_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¶
-
std::list<std::pair<vi_map::MissionId, bool>> mission_ids_with_baseframe_status¶
-
explicit MaplabServerNode()¶