struct mola::GravityMapAligner::KFAccSample

Overview

One averaged sample per KF.

#include <GravityMapAligner.h>

struct KFAccSample
{
    // fields

    mrpt::math::TVector3D a_body {0, 0, 0};
    double a_body_std = 0;
    std::size_t n_samples = 0;
};

Fields

mrpt::math::TVector3D a_body {0, 0, 0}

Time-averaged body-frame accel (m/s²).

double a_body_std = 0

Intra-KF std of |a|, m/s².

std::size_t n_samples = 0

Number of raw samples averaged.