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jlblancoc committed Nov 12, 2024

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1 parent ca1b3f9 commit 4d91655
Showing 2 changed files with 37 additions and 0 deletions.
25 changes: 25 additions & 0 deletions module/include/mola_lidar_odometry/LidarOdometry.h
Original file line number Diff line number Diff line change
@@ -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";

12 changes: 12 additions & 0 deletions module/src/LidarOdometry.cpp
Original file line number Diff line number Diff line change
@@ -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_);

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