Struct NavStateFG::State

• Defined in File NavStateFG.h

Nested Relationships

This struct is a nested type of Class NavStateFG.

Struct Documentation

struct State

Public Functions

State()

~State()

frameid_t frame_id(const std::string &frame_name)

Returns the existing ID, or creates a new ID, for a frame:

auto last_pose_of_frame_id(const std::string &frame_id) -> std::optional<std::pair<mrpt::Clock::time_point, PoseData>>

Public Members

mrpt::pimpl<GtsamImpl> impl

mrpt::containers::bimap<std::string, frameid_t> known_frames

A bimap of known “frame_id” <=> “numeric IDs”:

std::map<mrpt::Clock::time_point, PointData> data

The sliding window of observation data: