Struct MapUpdate

• Defined in File map-update.h

Struct Documentation

struct vio::MapUpdate

Public Functions

inline bool check() const

Public Members

MapUpdate

int64_t timestamp_ns

EstimatorState vio_state

UpdateType map_update_type

std::shared_ptr<const SynchronizedNFrame> keyframe

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).

Eigen::Matrix<double, 6, Eigen::Dynamic> imu_measurements

ViNodeState vinode

ViNodeCovariance vinode_covariance

common::LocalizationState localization_state

aslam::Transformation T_G_M