se::Submap< MapT > Struct Template Reference

Stores an se::Map and an associated transformation from the submap to the world frame. More...

#include <submap.hpp>

Public Attributes
std::shared_ptr< MapT >	map
Eigen::Isometry3f	T_WK = Eigen::Isometry3f::Identity()
	The pose of the submap frame K expressed in the world frame W.

Detailed Description

template<typename MapT>
struct se::Submap< MapT >

Stores an se::Map and an associated transformation from the submap to the world frame.

Useful for integrating supereight2 maps into a submapping framework.

Member Data Documentation

map

template<typename MapT >

std::shared_ptr<MapT> se::Submap< MapT >::map

T_WK

template<typename MapT >

Eigen::Isometry3f se::Submap< MapT >::T_WK = Eigen::Isometry3f::Identity()

The pose of the submap frame K expressed in the world frame W.

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

• include/se/submap.hpp