struct mola::LidarOdometry::DeskewOdometryTwist

Overview

Mean motion of the de-skew odometry source over an interval.

struct DeskewOdometryTwist
{
    // fields

    mrpt::math::TTwist3D twist;
    mrpt::math::TVector3D velocity_at_middle;
    double middle_stamp = 0;
};

Fields

mrpt::math::TTwist3D twist

Mean twist, in the vehicle frame at the start of the interval.

mrpt::math::TVector3D velocity_at_middle

Mean linear velocity, in the vehicle frame at the middle of the interval.

double middle_stamp = 0

The middle of the interval [s], the instant the mean refers to.