class mola::FactorConstVelKinematics
Overview
Abstract representation of a constant-velocity kinematic motion model factor between two key frames.
#include <FactorConstVelKinematics.h> class FactorConstVelKinematics { public: // fields id_t from_kf = INVALID_ID; id_t to_kf = INVALID_ID; double deltaTime = .0; // construction FactorConstVelKinematics(); FactorConstVelKinematics(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
FactorConstVelKinematics(id_t kf_from, id_t kf_to, double delta_time)
Creates relative pose constraint of KF to
as seem from from
.