Struct LocalizationSourceBase::LocalizationUpdate

Nested Relationships

This struct is a nested type of Class LocalizationSourceBase.

Struct Documentation

struct LocalizationUpdate

Public Functions

LocalizationUpdate() = default

Public Members

mrpt::Clock::time_point timestamp

The timestamp associated to the new KeyFrame localization.

std::string reference_frame = "map"

Vehicle/robot pose is given wrt this frame of reference

std::string method = "slam"

The source of the localization (e.g. “slam”, “lidar_odometry”, “wheel_odometry”, etc.)

mrpt::math::TPose3D pose
std::optional<mrpt::math::CMatrixDouble66> cov
double quality = 1.0

Localization “quality”: 0.0=worst, 1.0=best

Note

Field added in MOLA v1.4.0