glim::EstimationFrame Struct Reference

Odometry estimation frame. More...

#include <estimation_frame.hpp>

Public Types
using	Ptr = std::shared_ptr< EstimationFrame >
using	ConstPtr = std::shared_ptr< const EstimationFrame >

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EstimationFrame::Ptr	clone () const
	Make a clone of the estimation frame. (Points data are shallow copied)
EstimationFrame::Ptr	clone_wo_points () const
	Make a clone of the estimation frame instance but without points data.
const Eigen::Isometry3d	T_world_sensor () const
	Get the sensor pose according to frame_id.
void	set_T_world_sensor (FrameID frame_id, const Eigen::Isometry3d &T)
	Set the sensor pose.
template<typename T >
T *	get_custom_data (const std::string &key)
	Get the custom data and cast it to the specified type.
template<typename T >
const T *	get_custom_data (const std::string &key) const
	Get the custom data and cast it to the specified type.

Public Attributes
long	id
	Frame ID.
double	stamp
	Timestamp.
Eigen::Isometry3d	T_lidar_imu
	LiDAR-IMU transformation.
Eigen::Isometry3d	T_world_lidar
	LiDAR pose in the world space.
Eigen::Isometry3d	T_world_imu
	IMU pose in the world space.
Eigen::Vector3d	v_world_imu
	IMU velocity in the world frame.
Eigen::Matrix< double, 6, 1 >	imu_bias
	IMU bias.
PreprocessedFrame::ConstPtr	raw_frame
	Raw input point cloud (LiDAR frame)
Eigen::Matrix< double, 8, -1 >	imu_rate_trajectory
	IMU-rate trajectory 8 x N [t, x, y, z, qx, qy, qz, qw].
FrameID	frame_id
	Coordinate frame of $frame.
gtsam_points::PointCloud::ConstPtr	frame
	Deskewed points for state estimation.
std::vector< gtsam_points::GaussianVoxelMap::Ptr >	voxelmaps
	Multi-resolution voxelmaps.
std::unordered_map< std::string, std::shared_ptr< void > >	custom_data
	User-defined custom data.

Detailed Description

Odometry estimation frame.

Member Function Documentation

clone()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW EstimationFrame::Ptr glim::EstimationFrame::clone

(

)

const

Make a clone of the estimation frame. (Points data are shallow copied)

Returns

EstimationFrame::Ptr Cloned frame

clone_wo_points()

EstimationFrame::Ptr glim::EstimationFrame::clone_wo_points

(

)

const

Make a clone of the estimation frame instance but without points data.

Returns

EstimationFrame::Ptr Cloned frame without points

get_custom_data() [1/2]

template<typename T >

T * glim::EstimationFrame::get_custom_data ( const std::string &  key )

inline

Get the custom data and cast it to the specified type.

Note

This method does not check the type of the custom data.

Parameters

key	Key of the custom data

Returns

T* Pointer to the custom data. nullptr if not found.

get_custom_data() [2/2]

template<typename T >

const T * glim::EstimationFrame::get_custom_data ( const std::string &  key ) const

inline

Get the custom data and cast it to the specified type.

Note

This method does not check the type of the custom data.

Parameters

key	Key of the custom data

Returns

T* Pointer to the custom data. nullptr if not found.

set_T_world_sensor()

void glim::EstimationFrame::set_T_world_sensor	(	FrameID	frame_id,
		const Eigen::Isometry3d &	T
	)

Set the sensor pose.

Parameters

frame_id	Sensor coodinate frame
T	Sensor pose

T_world_sensor()

const Eigen::Isometry3d glim::EstimationFrame::T_world_sensor

(

)

const

Get the sensor pose according to frame_id.

Returns

const Eigen::Isometry3d Sensor pose

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The documentation for this struct was generated from the following file:

• /home/runner/work/glim/glim/include/glim/odometry/estimation_frame.hpp