struct mola::SearchablePoseList::NearbyPose

Overview

One stored pose that matched a neighborhood query.

See also:

findNearby()

#include <SearchablePoseList.h>

struct NearbyPose
{
    // fields

    size_t index = 0;
    std::optional<KFID> id;
    mrpt::poses::CPose3D pose;
    mrpt::poses::CPose3D relativePose;
    double translation = 0;
    double rotation = 0;
};

Fields

size_t index = 0

Index into the insertion order.

std::optional<KFID> id

The id given to insert(), if one was.

mrpt::poses::CPose3D pose

The stored pose itself.

mrpt::poses::CPose3D relativePose

p - pose for the query pose p, so the caller does not recompute it.

double translation = 0

Norm of the translation part of relativePose [m].

double rotation = 0

Norm of SO(3)-log of the rotation part of relativePose [rad].