struct mola::NavState
Overview
#include <NavState.h> struct NavState { // fields mrpt::poses::CPose3DPDFGaussianInf pose; mrpt::math::TTwist3D twist; mrpt::math::CMatrixDouble66 twist_inv_cov; };
Fields
mrpt::poses::CPose3DPDFGaussianInf pose
SE(3) pose estimation, including information matrix (in the “odom” frame)
mrpt::math::TTwist3D twist
Linear and angular velocity estimation (in the “odom” frame)
mrpt::math::CMatrixDouble66 twist_inv_cov
Inverse covariance matrix (information) of twist