struct mola::LocalizationSourceBase::LocalizationUpdate

Overview

#include <LocalizationSourceBase.h>

struct LocalizationUpdate
{
    // fields

    mrpt::Clock::time_point timestamp;
    std::string reference_frame = "map";
    std::string method = "slam";
    mrpt::math::TPose3D pose;
    std::optional<mrpt::math::CMatrixDouble66> cov;
    double quality = 1.0;
};

Fields

mrpt::Clock::time_point timestamp

The timestamp associated to the new KeyFrame localization.

std::string reference_frame = "map"

Vehicle/robot pose is given wrt this frame of reference

std::string method = "slam"

The source of the localization (e.g. “slam”, “lidar_odometry”, “wheel_odometry”, etc.)

double quality = 1.0

Localization “quality”: 0.0=worst, 1.0=best Field added in MOLA v1.4.0