* @brief Options controlling which pre-processing steps `parse_yaml()` runs. * * Pre-processing is performed in the following fixed order: * 1. **

RawDataSource from a directory of time-ordered .bin LiDAR scan files. * Each .bin file is expected to contain a sequence of 4 floats (x, y, z, intens

A bridge to read sensor observations from ROS 2 topics and forwarding them * to other MOLA subsystems, and to publish MOLA topics, localization, and

Base virtual class for all executable (nodelet-like) units inside a * SLAM system. \ingroup mola_kernel_interfaces_grp */

Base class for filters: get observations via `onNewObservation()`, and * immediately send them to a worker thread that works on it, possibly * publi

Virtual interface for SLAM front-ends. * * Instructions for implementing new front-ends: * Raw observations arrive via calls to the virtual method

A single menu item. Separator if label is empty.

MOLA GUI and visualization API - nanogui backend. * * Implements VizInterface using nanogui / CDisplayWindowGUI. * For the Dear ImGui backend see M

MOLA visualization — Dear ImGui docking-branch backend. * * Implements VizInterface using Dear ImGui + GLFW + OpenGL 3. * For the nanogui backend s

Virtual base for raw-observation data sources (sensors, dataset * parsers,...) \ingroup mola_kernel_interfaces_grp */

RawDataSource for datasets in MRPT rawlog format * * \ingroup mola_input_rawlog_grp */

Integrates constant circular motion for the 'circle' scenario.

Declare supported cli switches ===========

Virtual base for offline dataset sources to have a GUI within MolaViz * \ingroup mola_kernel_interfaces_grp */

A single key-value diagnostic entry

Severity levels, matching diagnostic_msgs::msg::DiagnosticStatus (REP-107)

A structured diagnostic status message (REP-107 compatible)

Virtual interface for MOLA modules that provide structured diagnostics. * * Modules implementing this interface will have their diagnostics * autom

Defines a common georeferencing data structure, similar to mp2p_icp but * independent of that library. * * \ingroup mola_kernel_grp */

HashedSetSE3: a sparse hashed lattice of SE(3) poses */

HashedVoxelPointCloud: a pointcloud stored as a sparse set of cubic voxels, * indexed by a hash map. Efficient for storing point clouds, decimating t

* RAII helper that pushes a canonical path onto `g_activeIncludes` on * construction and pops it on destruction (even when an exception unwinds). */

--------------------------------------------------------------- 1) Score every keyframe with an additive proximity metric ----------------------------

Mixin interface for keyframe-based metric maps that need to expose * per-KF pose plumbing to higher layers (e.g. LiDAR odometry online * gravity t

An efficient storage class for large point clouds built as keyframes, each having an associated * local cloud. * * The user of the class is respons

* A string value that can be written from any thread and read (polled) from * the GUI thread without data races. * * Usage (writer side, any thread

Used in internal_load_lib_modules() */

Virtual interface for SLAM/odometry methods publishing poses. * * Publishers must call advertiseUpdatedLocalization(), subscribers * must call subs

Virtual interface for map server services offered by MOLA modules * \ingroup mola_kernel_interfaces_grp */

Virtual interface for SLAM/odometry methods publishing a map and/or * georeferencing information. * * \ingroup mola_kernel_interfaces_grp */

Data structures to avoid ANY heap memory allocation and keep working on the stack at all time:

Data structures to avoid ANY heap memory allocation and keep working on the stack at all time:

A top-level menu, e.g. "File", "View", "Help"

The full menu bar for a parent window.

* A minimal MOLA application container, for use programatically when it is * not advisable to use the mola-cli application. * * This implements bas

Main launcher for a MOLA system. See mola-cli for a ready-to-use program. * \ingroup mola_launcher_grp */

3D NDT maps: Voxels with points approximated by Gaussians. * Implementation of \cite magnusson2007scan. * * This implements two nearest-neighbor vi

The state returned by NavStateFilter * * \ingroup mola_kernel_interfaces_grp */

Virtual API for kinematic state filtering algorithms, * fusing information from multiple odometry or twist sources, IMU, GNSS, etc. * * Refer to

* @brief Extends MRPT's occupancy grid with super-resolution likelihood field. * */

Virtual base for offline dataset sources * \ingroup mola_kernel_interfaces_grp */

---- Helper: set up or reuse the GL canvas + point cloud objects ----

Virtual base for raw-observation consumers * \ingroup mola_kernel_interfaces_grp */