struct mola::LidarOdometry::StatusSnapshot

Overview

What the getters and diagnostics report, refreshed at the end of each scan, so they never wait for state_mtx_, which is held for a whole scan (seconds during a global search or a map load).

struct StatusSnapshot
{
    // fields

    std::optional<std::tuple<mrpt::poses::CPose3DPDFGaussian, mrpt::math::TTwist3D>> estimated_state;
    double icp_quality = .0;
    std::size_t icp_iterations = 0;
    bool icp_was_good = true;
    std::optional<mrpt::Clock::time_point> last_icp_timestamp;
    std::optional<mrpt::Clock::time_point> last_obs_timestamp;
    std::optional<mrpt::Clock::time_point> last_obs_reception_time;
    double scan_period_sec = .0;
    double average_process_time = .0;
    std::vector<std::pair<std::string, std::optional<std::size_t>>> local_map_layer_points;
    Parameters::Diagnostics diagnostics_thresholds;
};

Fields

std::vector<std::pair<std::string, std::optional<std::size_t>>> local_map_layer_points

Points per local map layer, or nullopt for layers that are not points maps (e.g. keyframe maps), whose size has no cheap generic query.