class mola::RefPose3


A Reference SE(3) keyframe. Does not hold raw observations. This kind of frame is used as “coordinate origin” for both, absolute and relative maps (submaps). Global SLAM frameworks should have only one entity of this class, submapping approaches will have several instances.

#include <RefPose3.h>

class RefPose3: public mola::EntityBase

Inherited Members

    // fields

    mola::id_t my_id_ {mola::INVALID_ID};
    mrpt::Clock::time_point timestamp_ {};
    annotations_data_t annotations_;