struct mola::state_estimation_smoother::Snapshot::RawSourcePose

Overview

Each odometry source’s own last raw pose in its own {odom_i} frame. The frame-local prediction anchors on this to stay immune to {map} corrections (see AGENTS.md / estimated_navstate()).

#include <Snapshot.h>

struct RawSourcePose
{
    // fields

    mrpt::Clock::time_point stamp;
    mrpt::poses::CPose3DPDFGaussian pose;
};

Fields

mrpt::poses::CPose3DPDFGaussian pose

in {odom_i}