struct mola::TransformTree

Overview

A snapshot of all coordinate frames hanging below a given root frame, with their poses already resolved with respect to that root.

Declares no constructor either, for the same reason as TransformTreeNode above.

#include <TransformTreeSource.h>

struct TransformTree
{
    // fields

    std::string root;
    mrpt::Clock::time_point timestamp;
    std::vector<TransformTreeNode> nodes;
};

Fields

std::string root

The frame all poses in nodes are relative to.

mrpt::Clock::time_point timestamp

The time the poses were looked up at.

std::vector<TransformTreeNode> nodes

The root itself is included, as the first entry, with an identity pose and an empty parent. Parents always appear before their children.