struct mola::LidarOdometry::Parameters::InitialLocalizationOptions

Overview

#include <LidarOdometry.h>

struct InitialLocalizationOptions
{
    // fields

    InitLocalization method = InitLocalization::FixedPose;
    mrpt::math::TPose3D fixed_initial_pose;
    std::optional<mrpt::math::CMatrixDouble66> initial_pose_cov;
    uint32_t additional_uncertainty_after_reloc_how_many_timesteps = 5;

    // methods

    void initialize(const Yaml& c);
};