struct mola::state_estimation_simple::StateEstimationSimple::State

Overview

struct State
{
    // structs

    struct SourceState;

    // 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;
    std::array<double, 6> vel_filter_P = {1e4, 1e4, 1e4, 1e4, 1e4, 1e4};
    std::optional<mrpt::Clock::time_point> vel_filter_last_tim;
    std::map<std::string, SourceState> per_source;
    RegexCache do_process_imu_labels_re;
    RegexCache do_process_odometry_labels_re;
    RegexCache do_process_gnss_labels_re;
};