Documentation

The world_db_model stack currently consists of:

• world_db_core: core functionality for recording and playing back raw sensor data, storing data in the database by using model_database and for loading and unloading plug-ins using pluginlib.

• tf_recorder_plugin: a plug-in for creating a persistent long-term storage of tf transformations. It is an important dependency of all detector plug-ins since it provides the core functionality for resolving spatial requests to time intervals at which data at a specific location has be recorded at.

• world_db_detector_lib: a C++ template library that provides generic implementations of the most important code patterns used when implementing detector plug-ins.

• Various plug-ins that demonstrate common use patterns of world_db_model

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