Struct SolverContext

• Defined in File Solver.h

Struct Documentation

struct SolverContext

Defines the context of a solver within the successive ICP iterations.

Public Functions

SolverContext() = default

Public Members

std::optional<mrpt::poses::CPose3D> guessRelativePose

std::optional<mrpt::poses::CPose3D> currentCorrectionFromInitialGuess

std::optional<mrpt::poses::CPose3D> lastIcpStepIncrement

std::optional<mrpt::poses::CPose3DPDFGaussianInf> prior

Optional prior guess of the SE(3) solution, including a mean value and an inverse covariance (information) matrix, i.e. zeros in the diagonal mean that those prior coordinates should be ignored, a large value means the solution must be close to those coordinates.

mutable std::map<const Solver*, std::map<std::string, std::any>> perSolverPersistentData

std::optional<uint32_t> icpIteration