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72 std::shared_ptr<mrpt::slam::CMetricMapBuilderRBPF>
mapBuilder;
90 return "rbpf-slam <config_file> [dataset.rawlog]";
void run()
Runs with the current parameter set.
void impl_initialize(int argc, const char **argv) override
Implementation of BaseAppDataSource for reading from a rawlog file.
Instance of RBPF_SLAM_App_Base to run mapping from an offline dataset file.
std::string impl_get_usage() const override
Virtual interface for offline datasets (rawlog) or live sensors.
mrpt::config::CConfigFileMemory params
Populated in initialize().
void initialize(int argc, const char **argv)
Initializes the application from CLI parameters.
std::shared_ptr< mrpt::slam::CMetricMapBuilderRBPF > mapBuilder
RBPF-SLAM virtual base class for application wrappers.
Versatile class for consistent logging and management of output messages.
std::map< mrpt::system::TTimeStamp, mrpt::math::TPose3D > out_estimated_path
void initialize(int argc, char **argv)
bool quits_with_esc_key
If enabled (default), stdin will be watched and application quits if ESC is pressed.
Virtual interface for applications that initialize from CLI parameters.
This class implements a config file-like interface over a memory-stored string list.
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