Struct CSimpleMap::Keyframe

Nested Relationships

This struct is a nested type of Class CSimpleMap.

Struct Documentation

struct Keyframe

Public Functions

Keyframe() = default
~Keyframe() = default
inline Keyframe(const mrpt::poses::CPose3DPDF::Ptr &kfPose, const mrpt::obs::CSensoryFrame::Ptr &kfSf, const std::optional<mrpt::math::TTwist3D> &kflocalTwist = std::nullopt)

Public Members

mrpt::poses::CPose3DPDF::Ptr pose
mrpt::obs::CSensoryFrame::Ptr sf

raw observations

std::optional<mrpt::math::TTwist3D> localTwist