class mola::SearchablePoseList

Overview

Data structure to search for nearby SE(3) poses.

It uses a KD-tree for the search.

#include <SearchablePoseList.h>

class SearchablePoseList
{
public:
    // construction

    SearchablePoseList();
    SearchablePoseList(bool measure_from_last_kf_only);

    // methods

    bool empty() const;
    size_t size() const;
    void insert(const mrpt::poses::CPose3D& p);
    std::tuple<bool, mrpt::poses::CPose3D> check(const mrpt::poses::CPose3D& p) const;

    void removeAllFartherThan(
        const mrpt::poses::CPose3D& p,
        const double maxTranslation
        );
};