Class FactorTricycleKinematics

Defined in File FactorTricycleKinematics.h

Class Documentation

class FactorTricycleKinematics

Abstract representation of a constant-velocity tricycle kinematic motion model factor between two key frames.

Public Functions

FactorTricycleKinematics() = default

inline FactorTricycleKinematics(id_t kf_from, id_t kf_to, double delta_time): Creates relative pose constraint of KF to as seem from from.

Public Members

id_t from_kf = INVALID_ID 

id_t to_kf = INVALID_ID 

double deltaTime = .0: Elapsed time between “from_kf” and “to_kf” [seconds]