WIP

module/include/mola_lidar_odometry/LidarOdometry.h

@@ -32,6 +32,7 @@
 // MOLA interfaces:
 #include <mola_kernel/interfaces/FrontEndBase.h>
 #include <mola_kernel/interfaces/LocalizationSourceBase.h>
+#include <mola_kernel/interfaces/MapServer.h>
 #include <mola_kernel/interfaces/MapSourceBase.h>
 #include <mola_kernel/interfaces/Relocalization.h>
 
@@ -72,6 +73,7 @@ namespace mola
 class LidarOdometry : public mola::FrontEndBase,
                       public mola::LocalizationSourceBase,
                       public mola::MapSourceBase,
+                      public mola::MapServer,
                       public mola::Relocalization
 {
   DEFINE_MRPT_OBJECT(LidarOdometry, mola)
@@ -438,6 +440,29 @@ class LidarOdometry : public mola::FrontEndBase,
 
   /** @} */
 
+  /** @name Virtual interface of MapServer
+     *{ */
+
+  /** Loads a map from file(s) and sets it as active current map.
+     * Different implementations may use one or more files to store map as
+     * files.
+     *
+     *  \param[in] path File name(s) prefix for the map to load. Do not add file
+     * extension.
+     */
+  MapServer::ReturnStatus map_load(const std::string & path) override;
+
+  /** Saves a map from file(s) and sets it as active current map.
+     * Different implementations may use one or more files to store map as
+     * files.
+     *
+     *  \param[in] path File name(s) prefix for the map to save. Do not add file
+     * extension.
+     */
+  MapServer::ReturnStatus map_save(const std::string & path) override;
+
+  /** @} */
+
 private:
   const std::string NAVSTATE_LIODOM_FRAME = "liodom";
 

module/src/LidarOdometry.cpp

@@ -2229,6 +2229,18 @@ void LidarOdometry::relocalize_from_gnss()
   //TODO!
 }
 
+MapServer::ReturnStatus LidarOdometry::map_load(const std::string & path)
+{
+  //TODO!
+  XX;
+}
+
+MapServer::ReturnStatus LidarOdometry::map_save(const std::string & path)
+{
+  //TODO!
+  XX;
+}
+
 void LidarOdometry::processPendingUserRequests()
 {
   auto lckState = mrpt::lockHelper(state_mtx_);