class mola::state_estimation_smoother::StateEstimationSmoother::AbsFactorTricycleKinematics

Overview

Abstract representation of a constant-velocity tricycle kinematic motion model factor between two key frames.

class AbsFactorTricycleKinematics
{
public:
    // fields

    id_t from_kf = INVALID_ID;
    id_t to_kf = INVALID_ID;
    double deltaTime = .0;

    // construction

    AbsFactorTricycleKinematics();
    AbsFactorTricycleKinematics(id_t kf_from, id_t kf_to, double delta_time);
};

Fields

double deltaTime = .0

Elapsed time between “from_kf” and “to_kf” [seconds]

Construction

AbsFactorTricycleKinematics(id_t kf_from, id_t kf_to, double delta_time)

Creates relative pose constraint of KF to as seem from from.