struct mola::TransformTreeNode

Overview

One coordinate frame within a TransformTree.

Declares no constructor, not even a defaulted one: since C++20 any user-declared constructor makes a struct a non-aggregate, which breaks the brace initialization its producers use. The implicit default constructor is equivalent, and leaving it implicit keeps this compiling under both C++17 and C++20.

#include <TransformTreeSource.h>

struct TransformTreeNode
{
    // fields

    std::string frame;
    std::string parent;
    mrpt::poses::CPose3D pose_in_root;
};

Fields

std::string frame

This frame’s name, e.g. “LF_FOOT”.

std::string parent

Name of this frame’s parent. Empty for the tree root only.

mrpt::poses::CPose3D pose_in_root

Pose of this frame with respect to the tree root.