mola_kernel

MOLA kernel library, providing the definition of essential virtual interfaces and data types.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

Changelog for package mola_kernel

2.1.0 (2025-10-20)

• Send sensor_rate_decimation to Viz
• interfaces/MapSourceBase: Add keep_last_one_only property
• Make use of ConstPtr across API
• Contributors: Jose Luis Blanco-Claraco

2.0.0 (2025-10-13)

• Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
• MolaViz: Add method clear_all_point_clouds_with_decay()
• MolaViz: Add support for inserting clouds with decay_time
• Large clean up of unused code from older MOLA versions. In particular, all abstract definitions of factors, entities, and WorldModel have been removed. It seems more natural and efficient to keep them in the specific SLAM modules.
• Allow extra parameters in mola_viz per-sensor preview windows
• fix clang-format
• Modernize copyright notice
• Remove old code that was needed to support very old MRPT versions
• Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

• MapSourceBase: add a new optional field "metadata"
• NavStateFilter interface: Now is a RawDataConsumer too
• Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-28)

1.8.0 (2025-05-25)

• Update Viz interface: add methods to run arbitrary Scene manipulation and camera orthographic mode
• Update copyright year
• fix reversed logic
• clang-format fix
• Add mola::Synchronizer for grouping observations
• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

• code clean up: remove useless dtors, and mark the required copy ctors as deleted
• Contributors: Jose Luis Blanco-Claraco

1.6.4 (2025-04-23)

• fix: Correctly handling Livox cloud timestamps ("double"s, but in nanoseconds) in BridgeROS2 and bag2 data sources. They are automatically detected, no need to change any parameter.
• modernize clang-format
• Contributors: Jose Luis Blanco-Claraco

1.6.3 (2025-03-15)

1.6.2 (2025-02-22)

• ExecutableBase inteface: added diagnostics API
• Contributors: Jose Luis Blanco Claraco

1.6.1 (2025-02-13)

• mola_kernel: Add Georeferencing structure and add it to map updates
• Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-21)

• Fix published /tf's: those from LocalizationSources now can explicitly define their parent and child frames
• LocalizationSources now can explicitly define both, their reference and child frames for each estimated pose
• docs: add state estimation images
• Contributors: Jose Luis Blanco-Claraco

1.5.1 (2024-12-29)

• NavStateFilter API: add estimated_trajectory()
• Contributors: Jose Luis Blanco-Claraco

1.5.0 (2024-12-26)

• NavStateFilter Interface now also inherits from ExecutableBase for convenience
• MinimalModuleContainer ctor should not be explicit
• Add mola::MinimalModuleContainer
• Drop dependency on mrpt-gui in kernel by abstracting MolaViz subwindow layout operations
• Contributors: Jose Luis Blanco-Claraco

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

• MOLA system yaml files: added "enabled" optional property for

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