struct mola::state_estimation_smoother::StateEstimationSmoother::PointData

Overview

struct PointData
{
    // fields

    std::optional<PoseData> pose;
    std::optional<OdomData> odom;
    std::optional<TwistData> twist;
    std::optional<QueryPointData> query;
    KinematicState last_known_state;

    // construction

    PointData();

    PointData(
        const PoseData& p,
        const KinematicState& ks = {}
        );

    PointData(
        const OdomData& p,
        const KinematicState& ks = {}
        );

    PointData(
        const TwistData& p,
        const KinematicState& ks = {}
        );

    PointData(
        const QueryPointData& p,
        const KinematicState& ks = {}
        );

    // methods

    std::string asString() const;
    bool empty() const;
};