struct mola::LidarOdometry::Parameters::Diagnostics

Overview

Thresholds for REP-107 diagnostics levels.

#include <LidarOdometry.h>

struct Diagnostics
{
    // fields

    double icp_quality_warn = 0.30;
    double icp_quality_error = 0.10;
    double input_stale_sec = 3.0;
    double input_error_sec = 5.0;
    double dropped_ratio_warn = 0.20;
    double dropped_ratio_error = 0.50;
    double timing_utilization_warn = 0.80;

    // methods

    void initialize(const Yaml& c);
};

Fields

double input_stale_sec = 3.0

Input considered stale if no observation received for this many seconds.

double input_error_sec = 5.0

Fatal-level staleness (no data for this many seconds)

double dropped_ratio_warn = 0.20

Warn when dropped-frames ratio exceeds this value.

double timing_utilization_warn = 0.80

Warn when average process time exceeds this fraction of sensor period.