class mola::RelPose3KF

Overview

A relative SE(3) keyframe, holding a relative SE(3) pose wrt to the base frame. More…

#include <RelPose3KF.h>

class RelPose3KF:
    public mola::EntityRelativeBase,
    public mola::KeyFrameBase
{
public:
    // fields

    mrpt::math::TPose3D relpose_value;
    mrpt::obs::CSensoryFrame::Ptr raw_observations_;

    // methods

    void load();
    void unload();
    bool is_unloaded() const;
};

Inherited Members

public:
    // fields

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

Detailed Documentation

A relative SE(3) keyframe, holding a relative SE(3) pose wrt to the base frame. This entity is also a key-frame.

Fields

mrpt::math::TPose3D relpose_value

The up-to-date value of this entity.