struct mrpt::maps::CPointsMap::TLaserRange2DInsertContext

Overview

Helper struct used for internal_loadFromRangeScan2D_prepareOneRange()

#include <mrpt/maps/CPointsMap.h>

struct TLaserRange2DInsertContext
{
    // fields

    mrpt::math::CMatrixDouble44 HM;
    const mrpt::obs::CObservation2DRangeScan& rangeScan;
    std::vector<float> fVars;
    std::vector<unsigned int> uVars;
    std::vector<uint8_t> bVars;

    // construction

    TLaserRange2DInsertContext(const mrpt::obs::CObservation2DRangeScan& _rangeScan);
};

Fields

mrpt::math::CMatrixDouble44 HM

Homog matrix of the local sensor pose within the robot.

std::vector<float> fVars

Extra variables to be used as desired by the derived class.