Class InputManager

sloam/src/core/inputNode.cpp:28–73

};

class InputManager
{
public:
    explicit InputManager(ros::NodeHandle nh);
    bool Run();

private:
    void OdomCb_(const nav_msgs::OdometryConstPtr &odom_msg);
    int FindPC(const ros::Time stamp, CloudT::Ptr cloud);
    void PCCb_(const sensor_msgs::PointCloud2ConstPtr &cloudMsg);
    bool callSLOAM(SE3 relativeMotion, ros::Time stamp);
    void PublishAccumOdom_(const SE3 &relativeMotion);
    void Odom2SlamTf();
    void PublishOdomAsTf(const nav_msgs::Odometry &odom_msg,
                         const std::string &parent_frame_id,
                         const std::string &child_frame_id);

    std::queue<sensor_msgs::PointCloud2ConstPtr> pcQueue_;
    std::deque<StampedSE3> odomQueue_;
    ros::NodeHandle nh_;
    ros::Publisher pubPose_;
    ros::Subscriber OdomSub_;
    ros::Subscriber PCSub_;
    tf2_ros::Buffer tf_buffer_;
    tf2_ros::TransformListener tf_listener_;
    tf2_ros::TransformBroadcaster broadcaster_;

    // params
    std::string map_frame_id_;
    std::string odom_frame_id_;
    std::string robot_frame_id_;
    std::string cloud_topic_;
    std::string odom_topic_;
    float minOdomDistance_;
    float minSLOAMAltitude_;
    size_t maxQueueSize_;

    // vars
    boost::shared_ptr<sloam::SLOAMNode> sloam_ = nullptr;
    std::vector<SE3> keyPoses_;
    StampedSE3 latestOdom;
    bool firstOdom_;
    bool publishTf_;
    size_t odomCounter_;
    size_t odomFreqFilter_;
};

InputManager::InputManager(ros::NodeHandle nh) : nh_(nh), tf_listener_{tf_buffer_}
{