struct mola::LidarOdometry::Parameters::StallRecovery

Overview

Recovery from a stall: registration failed and the state estimator gave no usable prediction, so the pose cannot move. After after_n_scans such consecutive scans, the local map restarts at the last pose and the state estimator is reset, so registration resumes. Never applied to a loaded map or with local map updates disabled.

#include <LidarOdometry.h>

struct StallRecovery
{
    // fields

    bool enabled = true;
    uint32_t after_n_scans = 5;

    // methods

    void initialize(const Yaml& cfg);
};