Typedef mola::Entity

• Defined in File Entity.h

Typedef Documentation

using mola::Entity = std::variant<std::monostate, RefPose3, RelPose3, RelPose3KF, RelDynPose3KF, LandmarkPoint3, EntityOther>

Variant type for “entities” in the world model. It’s guaranteed that the type is either:

• std::monostate: Not initialized, or

• A class derived from EntityBase (stored by value), or

• EntityOther, which is a wrapper around EntityBase::Ptr (an object allocated in the heap).

In this way, Entity can be handled as a polymorphic class, without the cost of dynamic memory allocation for the most-common classes, while still allowing using any user-derived class via dynamic memory.