Struct MapUpdate¶
Defined in File map-update.h
Struct Documentation¶
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struct
vio
::
MapUpdate
¶ Public Functions
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inline bool
check
() const¶
Public Members
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MapUpdate
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int64_t
timestamp_ns
¶
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EstimatorState
vio_state
¶
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UpdateType
map_update_type
¶
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std::shared_ptr<const SynchronizedNFrame>
keyframe
¶
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Eigen::Matrix<int64_t, 1, Eigen::Dynamic>
imu_timestamps
¶ IMU measurements since the last nframe (including the last IMU measurement of the of the previous edge for integration).
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Eigen::Matrix<double, 6, Eigen::Dynamic>
imu_measurements
¶
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ViNodeState
vinode
¶
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ViNodeCovariance
vinode_covariance
¶
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common::LocalizationState
localization_state
¶
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aslam::Transformation
T_G_M
¶
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inline bool