Struct TrajectoryNode

Defined in File trajectory_node.h

Nested Relationships

Nested Types

Struct TrajectoryNode::Data

Struct Documentation

struct TrajectoryNode

Public Functions

inline common::Time time() const

Public Members

std::shared_ptr<const Data> constant_data

transform::Rigid3d global_pose

struct Data

Public Members

common::Time time

Eigen::Quaterniond gravity_alignment

sensor::PointCloud filtered_gravity_aligned_point_cloud

sensor::PointCloud high_resolution_point_cloud

sensor::PointCloud low_resolution_point_cloud

Eigen::VectorXf rotational_scan_matcher_histogram

transform::Rigid3d local_pose