isae::SLAMParameters Class Reference

A class that gathers most of the algorithmic blocks of the SLAM system that can be setup in the config file. More...

#include <slamParameters.h>

Collaboration diagram for isae::SLAMParameters:

Public Member Functions
	SLAMParameters (const std::string config_file)
std::shared_ptr< ADataProvider >	getDataProvider ()
std::unordered_map< std::string, std::shared_ptr< AFeatureDetector > >	getFeatureDetectors ()
std::unordered_map< std::string, FeatureTrackerStruct >	getFeatureTrackers ()
std::unordered_map< std::string, FeatureMatcherStruct >	getFeatureMatchers ()
std::unordered_map< std::string, std::shared_ptr< ALandmarkInitializer > >	getLandmarksInitializer ()
std::shared_ptr< APoseEstimator >	getPoseEstimator ()
std::shared_ptr< AOptimizer >	getOptimizerFront ()
std::shared_ptr< AOptimizer >	getOptimizerBack ()
void	readConfigFile (const std::string &path_config_folder)

Public Attributes
Config	_config

Detailed Description

A class that gathers most of the algorithmic blocks of the SLAM system that can be setup in the config file.

Some attributes are sets as unordered map because these depends on the feature type (e.g. matcher, detector...). Then the proper blocks can be called using the feature label.

Constructor & Destructor Documentation

SLAMParameters()

isae::SLAMParameters::SLAMParameters

(

const std::string

config_file

)

Member Function Documentation

getDataProvider()

std::shared_ptr<ADataProvider> isae::SLAMParameters::getDataProvider ( )

inline

getFeatureDetectors()

std::unordered_map<std::string, std::shared_ptr<AFeatureDetector> > isae::SLAMParameters::getFeatureDetectors ( )

inline

getFeatureMatchers()

std::unordered_map<std::string, FeatureMatcherStruct> isae::SLAMParameters::getFeatureMatchers ( )

inline

getFeatureTrackers()

std::unordered_map<std::string, FeatureTrackerStruct> isae::SLAMParameters::getFeatureTrackers ( )

inline

getLandmarksInitializer()

std::unordered_map<std::string, std::shared_ptr<ALandmarkInitializer> > isae::SLAMParameters::getLandmarksInitializer ( )

inline

getOptimizerBack()

std::shared_ptr<AOptimizer> isae::SLAMParameters::getOptimizerBack ( )

inline

getOptimizerFront()

std::shared_ptr<AOptimizer> isae::SLAMParameters::getOptimizerFront ( )

inline

getPoseEstimator()

std::shared_ptr<APoseEstimator> isae::SLAMParameters::getPoseEstimator ( )

inline

readConfigFile()

void isae::SLAMParameters::readConfigFile

(

const std::string &

path_config_folder

)

Member Data Documentation

_config

Config isae::SLAMParameters::_config

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The documentation for this class was generated from the following files:

• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/slamParameters.h
• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/slamParameters.cpp