Struct RosTopicSettings¶

Defined in File rostopic-settings.h

Struct Documentation¶

struct vio_common::RosTopicSettings¶

Public Types

typedef std::unordered_map<std::string, aslam::SensorId> TopicSensorIdMap¶

typedef std::unordered_map<std::string, size_t> CameraTopicIdxMap¶

Public Functions

RosTopicSettings(const aslam::NCamera &camera_system, const vi_map::Imu &imu)¶

explicit RosTopicSettings(const vi_map::SensorManager &sensor_manager)¶

void getAllValidTopics(std::vector<std::string> *topics)¶

void makeAbsoluteTopics()¶

Public Members

CameraTopicIdxMap camera_topic_cam_index_map¶

std::string imu_topic¶

std::string camera_topic_suffix¶

std::string hardware_features_topic¶

std::string gps_wgs_topic¶

std::string gps_utm_topic¶

TopicSensorIdMap lidar_topic_sensor_id_map¶

std::pair<std::string, aslam::SensorId> odometry_6dof_topic¶

TopicSensorIdMap loop_closure_topic_map¶

TopicSensorIdMap absolute_6dof_topic_map¶

TopicSensorIdMap wheel_odometry_topic_map¶

TopicSensorIdMap pointcloud_map_topic_map¶