Program Listing for File NavState.h

↰ Return to documentation for file (include/mola_navstate_fuse/NavState.h)

/* -------------------------------------------------------------------------
 *   A Modular Optimization framework for Localization and mApping  (MOLA)
 *
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * Licensed under the GNU GPL v3 for non-commercial applications.
 *
 * This file is part of MOLA.
 * MOLA is free software: you can redistribute it and/or modify it under the
 * terms of the GNU General Public License as published by the Free Software
 * Foundation, either version 3 of the License, or (at your option) any later
 * version.
 *
 * MOLA is distributed in the hope that it will be useful, but WITHOUT ANY
 * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
 * A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along with
 * MOLA. If not, see <https://www.gnu.org/licenses/>.
 * ------------------------------------------------------------------------- */
#pragma once

#include <mrpt/math/TTwist3D.h>
#include <mrpt/poses/CPose3DPDFGaussianInf.h>

namespace mola
{
struct NavState
{
    NavState()  = default;
    ~NavState() = default;

    mrpt::poses::CPose3DPDFGaussianInf pose;

    mrpt::math::TTwist3D twist;

    mrpt::math::CMatrixDouble66 twist_inv_cov;
};

}  // namespace mola