struct mola::LidarOdometry::ScanPeriodEstimate

Overview

Estimate of a LiDAR’s scan period [s], from consecutive scan arrival (sensor) timestamps rather than the processed-scan rate: under heavy dropping the processed rate collapses, which would otherwise inflate this period and make scans wait for far more IMU than they actually need, needlessly deepening the wait list.

struct ScanPeriodEstimate
{
    // fields

    double period = 0.1;
    double last_arrival_stamp = 0;
};

Fields

double period = 0.1

[s]

double last_arrival_stamp = 0

[s], 0 = none yet