struct mola::state_estimation_simple::StateEstimationSimple::DeferredPose

Overview

A fuse_pose_deferred() reading not fused yet. Guarded by state_mtx_; not part of State, so reset() fuses it first instead of dropping it.

struct DeferredPose
{
    // fields

    mrpt::Clock::time_point timestamp;
    mrpt::poses::CPose3D mean;
    std::shared_future<mrpt::math::CMatrixDouble66> cov;
    std::string frame_id;
};