struct mola::state_estimation_smoother::StateEstimationSmoother::FrameState

Overview

struct FrameState
{
    // fields

    mrpt::poses::CPose3D pose;
    mrpt::math::TTwist3D twist;
    std::set<frame_index_t> kinematic_links_to;
};

Fields

mrpt::poses::CPose3D pose

in the reference frame

mrpt::math::TTwist3D twist

in the local frame of reference