Struct MapUpdate

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