struct mrpt::maps::CSimpleMap::Keyframe

Overview

#include <mrpt/maps/CSimpleMap.h>

struct Keyframe
{
    // fields

    mrpt::poses::CPose3DPDF::Ptr pose;
    mrpt::obs::CSensoryFrame::Ptr sf;
    std::optional<mrpt::math::TTwist3D> localTwist;

    // construction

    Keyframe();

    Keyframe(
        const mrpt::poses::CPose3DPDF::Ptr& kfPose,
        const mrpt::obs::CSensoryFrame::Ptr& kfSf,
        const std::optional<mrpt::math::TTwist3D>& kflocalTwist = std::nullopt
        );
};

Fields

mrpt::obs::CSensoryFrame::Ptr sf

raw observations