struct mola::state_estimation_smoother::StateEstimationSmoother::State::RawSourcePose

Overview

The last raw pose received from each odometry source, expressed in that source’s OWN frame {odom_i} (NOT in {map}), with its timestamp. estimated_navstate(t, {odom_i}) extrapolates from this anchor so the short-term prediction stays continuous in the front end’s own frame, instead of reconstructing it globally as X(kf) (-) T_map_to_odom_i (which would leak {map} corrections geo-ref / loop closure / per-solve jitter into the prediction; here the fixed-lag window keeps that leak small, but anchoring on the raw pose removes it).

#include <StateEstimationSmoother.h>

struct RawSourcePose
{
    // fields

    mrpt::Clock::time_point stamp;
    mrpt::poses::CPose3DPDFGaussian pose;
};

Fields

mrpt::poses::CPose3DPDFGaussian pose

in {odom_i}