g2o
gm2dl_io.h
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1 // g2o - General Graph Optimization
2 // Copyright (C) 2011 R. Kuemmerle, G.Grisetti, W. Burgard
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26 
27 #include <string>
28 
30 
31 namespace g2o {
32 
33  class SparseOptimizer;
34  class DataQueue;
35 
40  {
41  public:
45  static const int ID_LASERPOSE;
46  static const int ID_ODOMCALIB;
47 
48  static bool readGm2dl(const std::string& filename, SparseOptimizer& optimizer, bool overrideCovariances = false);
49 
50  static bool updateLaserData(SparseOptimizer& optimizer);
51 
52  static bool writeGm2dl(const std::string& filename, const SparseOptimizer& optimizer);
53 
54  static int readRobotLaser(const std::string& filename, DataQueue& queue);
55 
56  };
57 
58 }
#define G2O_CALIBRATION_ODOM_LASER_API
static const int ID_LASERPOSE
Definition: gm2dl_io.h:45
static const int ID_ODOMCALIB
Definition: gm2dl_io.h:46
class G2O_CORE_API SparseOptimizer
a simple queue to store data and retrieve based on a timestamp
Definition: data_queue.h:40
read / write gm2dl file into / out of a SparseOptimizer
Definition: gm2dl_io.h:39