struct mola::state_estimation_smoother::StateEstimationSmoother::State::RelativePoseChain

Overview

Per-source bookkeeping for the relative-factor formulation of fuse_pose() (see Parameters::relative_factors_frame_ids_re): the keyframe carrying that source’s one absolute anchor factor, and the tail of its chain of increment factors.

#include <StateEstimationSmoother.h>

struct RelativePoseChain
{
    // fields

    std::optional<frame_index_t> anchor_kf;
    std::optional<frame_index_t> last_kf;
    std::optional<mrpt::poses::CPose3DPDFGaussian> last_pose_in_odom;
    std::optional<mrpt::Clock::time_point> last_stamp;
};

Fields

std::optional<mrpt::Clock::time_point> last_stamp

Timestamp of the last accepted sample: readings not strictly newer are dropped, since the chain tail is what the next increment is measured from.