struct mola::state_estimation_smoother::StateEstimationSmoother::State::PredictionResiduals

Overview

Per odometry source: running mean of the squared one-step prediction error per unit time squared, in twist order (vx vy vz wx wy wz).

#include <StateEstimationSmoother.h>

struct PredictionResiduals
{
    // fields

    std::array<double, 6> varRate {};
    size_t count = 0;
};