struct mola::RelocalizationICP_SE2::Input::InputLattice

Overview

Initial guesses: a regular lattice in (x,y,yaw). If the yaw range spans a full turn, its ends are not duplicated.

#include <relocalization.h>

struct InputLattice
{
    // fields

    mrpt::math::TPose2D corner_min;
    mrpt::math::TPose2D corner_max;
    double resolution_xy = 1.0;
    double resolution_phi = mrpt::DEG2RAD(40.0);
    double z = 0;
    double pitch = 0;
    double roll = 0;
};

Fields

double z = 0

Fixed values of the other DOFs, for all initial guesses.