struct mola::state_estimation_smoother::StateEstimationSmoother::KeptGeoReference

Overview

An estimated geo-reference that had converged, kept by reset_motion() until the first solve after it confirms {map} is the same frame (check_kept_geo_reference_locked()). Meanwhile, it stays published.

struct KeptGeoReference
{
    // fields

    mola::Georeferencing georef;
    std::map<std::string, mrpt::poses::CPose3D> frames;
};

Fields

mola::Georeferencing georef

Datum, and T_enu_to_map as last solved, with its marginal covariance.

std::map<std::string, mrpt::poses::CPose3D> frames

Live T_map_to_odom_i of each odometry frame at the reset, by name, from its chain tail: where the vehicle pose propagated by that source’s own increments must be found after the reset.