struct mola::state_estimation_simple::StateEstimationSimple::Propagation

Overview

Propagates the last fused pose to timestamp (see Parameters::imu_propagation). Returns the pose increment from last_pose, expressed in its own frame, and the linear velocity at timestamp in the vehicle frame, or nullopt if that is not possible. Must be called with state_mtx_ already held.

struct Propagation
{
    // fields

    mrpt::poses::CPose3D increment;
    mrpt::math::TVector3D velocity_body;
};