struct mola::BackEndBase::AdvertiseUpdatedLocalization_Input

Overview

#include <BackEndBase.h>

struct AdvertiseUpdatedLocalization_Input
{
    // fields

    mrpt::Clock::time_point timestamp {};
    mola::id_t reference_kf {mola::INVALID_ID};
    mrpt::math::TPose3D pose;
    std::optional<mrpt::math::CMatrixDouble66> cov {std::nullopt};
};

Fields

mrpt::Clock::time_point timestamp {}

The timestamp associated to the new Key-Frame. Must be valid.

mola::id_t reference_kf {mola::INVALID_ID}

Coordinates are given wrt this frame of reference