Method LoopClosureModule

src/loop_closure/loop_closure_module.cpp:48–58

using lcd::LayerRegistrationConfig;

LoopClosureModule::LoopClosureModule(const RobotPrefixConfig& prefix,
                                     const LoopClosureConfig& config,
                                     const SharedDsgInfo::Ptr& dsg,
                                     const SharedModuleState::Ptr& state)
    : prefix_(prefix),
      config_(config),
      dsg_(dsg),
      state_(state),
      lcd_graph_(new DynamicSceneGraph()) {
  lcd_detector_.reset(new lcd::LcdDetector(config_.detector));
}

LoopClosureModule::~LoopClosureModule() { stop(); }