struct mola::LidarOdometry::MethodStateΒΆ
All variables that hold the algorithm state
#include <LidarOdometry.h> struct MethodState { // structs struct LocalPoseGraph; // fields mrpt::Clock::time_point last_obs_tim {}; mp2p_icp::metric_map_t::Ptr last_points {}; mrpt::math::TTwist3D last_iter_twist; bool last_iter_twist_is_good {false}; id_t last_kf {mola::INVALID_ID}; mrpt::poses::CPose3D accum_since_last_kf {}; mp2p_icp_filters::GeneratorSet pc_generators; mp2p_icp_filters::FilterPipeline pc_filter; LocalPoseGraph local_pose_graph; int kf_decor_decim_cnt {-1}; };