struct mola::state_estimation_smoother::StateEstimationSmoother::State

Overview

struct State
{
    // fields

    mrpt::pimpl<GtsamImpl> impl;
    mrpt::containers::bimap<std::string, frameid_t> known_frames;
    std::map<mrpt::Clock::time_point, PointData> data;

    // methods

    frameid_t frame_id(const std::string& frame_name);
    auto last_pose_of_frame_id(const std::string& frame_id);
    void update_last_input_stamp(const mrpt::Clock::time_point& t);
    std::optional<mrpt::Clock::time_point> get_current_extrapolated_stamp() const;
};

Fields

mrpt::containers::bimap<std::string, frameid_t> known_frames

A bimap of known “frame_id” <=> “numeric IDs”:

std::map<mrpt::Clock::time_point, PointData> data

The sliding window of observation data:

Methods

frameid_t frame_id(const std::string& frame_name)

Returns the existing ID, or creates a new ID, for a frame: