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