struct mola::state_estimation_simple::StateEstimationSimple::State

Overview

struct State
{
    // fields

    std::optional<mrpt::obs::CObservationOdometry> last_odom_obs;
    std::optional<mrpt::Clock::time_point> last_pose_obs_tim;
    std::optional<mrpt::poses::CPose3DPDFGaussian> last_pose;
    std::optional<mrpt::math::TTwist3D> last_twist;
    std::optional<mrpt::math::CMatrixDouble66> last_twist_cov;
    bool pose_already_updated_with_odom = false;
};