struct mola::BackEndBase::ProposeKF_Input¶

Overview¶

#include <BackEndBase.h>

struct ProposeKF_Input
{
    // fields

    mrpt::Clock::time_point timestamp {};
    std::optional<mrpt::obs::CSensoryFrame> observations {std::nullopt};
};

Detailed Documentation¶

Fields¶

mrpt::Clock::time_point timestamp {}

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

std::optional<mrpt::obs::CSensoryFrame> observations {std::nullopt}

Optional set of raw observations seen from this KF.