struct mola::KeyframeDecider::Decision

Overview

#include <KeyframeDecider.h>

struct Decision
{
    // fields

    bool create = false;
    double translation = 0;
    double rotation = 0;
};

Fields

bool create = false

Whether a new keyframe should be created at the queried pose.

double translation = 0

Translational distance to the reference keyframe [m]: the closest one under the spatial policy, the newest one under the temporal policy (0 if there is none yet). For logging/diagnostics.

double rotation = 0

Rotational distance to that same reference keyframe [rad] (0 if there is none yet). For logging/diagnostics.