struct mola::LidarOdometry::MethodState

All variables that hold the algorithm state

#include <LidarOdometry.h>

struct MethodState
{
    // structs

    struct LocalPoseGraph;

    // fields

    mrpt::Clock::time_point last_obs_tim {};
    mp2p_icp::metric_map_t::Ptr last_points {};
    mrpt::math::TTwist3D last_iter_twist;
    bool last_iter_twist_is_good {false};
    id_t last_kf {mola::INVALID_ID};
    mrpt::poses::CPose3D accum_since_last_kf {};
    mp2p_icp_filters::GeneratorSet pc_generators;
    mp2p_icp_filters::FilterPipeline pc_filter;
    LocalPoseGraph local_pose_graph;
    int kf_decor_decim_cnt {-1};
};