Struct PFLocalizationCore::InternalState

Nested Relationships

This struct is a nested type of Class PFLocalizationCore.

Struct Documentation

struct InternalState

Public Functions

InternalState()

Public Members

State fsm_state = State::UNINITIALIZED
mrpt::maps::CMultiMetricMap::Ptr metric_map

Empty=uninitialized.

std::optional<mp2p_icp::metric_map_t::Georeferencing> georeferencing
mrpt::bayes::CParticleFilter pf

interface for particle filters

mrpt::bayes::CParticleFilter::TParticleFilterStats pf_stats
std::optional<mrpt::slam::CMonteCarloLocalization2D> pdf2d

The filter:

std::optional<mrpt::slam::CMonteCarloLocalization3D> pdf3d
mrpt::Clock::time_point time_last_update

Timestamp of the last update (default=INVALID)

mrpt::obs::CObservationOdometry::Ptr last_odom
std::vector<mrpt::obs::CObservation::Ptr> pendingObs

Observations in the queue since the last run. This field is protected by an independent mutex.

mrpt::poses::CPose3DPDFParticles::Ptr lastResult

The last state of the filter, for sending as a copy to the user API

std::optional<mrpt::poses::CPose3D> nextFakeOdometryIncrPose
mrpt::pimpl<Relocalization> pendingRelocalization