struct mola::LidarOdometry::MethodState::OdometryAttitudeState

Overview

Newest verticality reading taken from an odometry source’s absolute attitude, when imu_gravity_correction.odometry_attitude is enabled. Protected by imu_state_mtx_.

#include <LidarOdometry.h>

struct OdometryAttitudeState
{
    // fields

    mrpt::math::TVector3D up_body {0, 0, 1};
    double timestamp = 0;
    bool valid = false;
};

Fields

mrpt::math::TVector3D up_body {0, 0, 1}

“Up” direction in the vehicle frame.

double timestamp = 0

Observation timestamp, on the same sensor-time scale as latest_obs_time_, so the two can be compared directly.