struct mola::LidarOdometry::MethodState
Overview
All variables that hold the algorithm state
struct MethodState { // fields bool initialized = false; bool fatal_error = false; bool active = true; int worker_tasks = 0; mrpt::poses::CPose3DPDFGaussian last_lidar_pose; std::map<std::string, mrpt::Clock::time_point> last_obs_tim_by_label; bool last_icp_was_good = true; double last_icp_quality = .0; std::map<std::string, mrpt::obs::CObservation::Ptr> sync_obs; mola::NavStateFuse navstate_fuse; mp2p_icp::ParameterSource parameter_source; double adapt_thres_sigma = 0; std::optional<double> estimated_sensor_max_range; mp2p_icp_filters::GeneratorSet obs_generators; mp2p_icp_filters::FilterPipeline pc_filter; mp2p_icp_filters::GeneratorSet local_map_generators; mp2p_icp::metric_map_t::Ptr local_map = mp2p_icp::metric_map_t::Create(); mp2p_icp_filters::FilterPipeline obs2map_merge; mrpt::poses::CPose3DInterpolator estimated_trajectory; mrpt::maps::CSimpleMap reconstructed_simplemap; std::optional<SearchablePoseList> distance_checker_local_map; std::optional<SearchablePoseList> distance_checker_simplemap; uint32_t localmap_check_removal_counter = 0; uint32_t localmap_advertise_updates_counter = 0; std::map<mrpt::Clock::time_point, std::shared_ptr<mrpt::obs::CObservationGPS>> last_gnns_; mrpt::opengl::CSetOfObjects::Ptr glVehicleFrame; mrpt::opengl::CSetOfObjects::Ptr glLocalMap; mrpt::opengl::CSetOfObjects::Ptr glPathGrp; mrpt::opengl::CSetOfLines::Ptr glEstimatedPath; int mapUpdateCnt = std::numeric_limits<int>::max(); std::map<mrpt::Clock::time_point, mrpt::obs::CSensoryFrame::Ptr> past_simplemaps_observations; };
Fields
bool active = true
if false, input observations will be just ignored. Useful for real-time execution on robots.
mrpt::poses::CPose3DPDFGaussian last_lidar_pose
in local map
std::map<std::string, mrpt::obs::CObservation::Ptr> sync_obs
Cache for multiple LIDAR synchronization:
mp2p_icp::ParameterSource parameter_source
The source of “dynamic variables” in ICP pipelines:
uint32_t localmap_check_removal_counter = 0
See check_for_removal_every_n.