namespace mola_test

Overview

namespace mola_test {

// global functions

mrpt::maps::CSimplePointsMap::Ptr makeScan(
    mrpt::random::CRandomGenerator& rng,
    std::size_t n
    );

mrpt::poses::CPose3D poseOfFrame(std::size_t f, double stepPerFrame);

} // namespace mola_test

Global Functions

mrpt::maps::CSimplePointsMap::Ptr makeScan(
    mrpt::random::CRandomGenerator& rng,
    std::size_t n
    )

A vehicle-like scan, in the sensor frame: ground plane, two side walls and some clutter, so the plane-regularized covariances have real structure to fit.

mrpt::poses::CPose3D poseOfFrame(std::size_t f, double stepPerFrame)

A gentle curve, so a sliding-window keep box sweeps in both x and y.