mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-11 12:29:50 +08:00
57 lines
1.9 KiB
C++
57 lines
1.9 KiB
C++
|
/*
|
||
|
|
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||
|
|
All rights reserved.
|
||
|
|
|
||
|
|
Redistribution and use in source and binary forms, with or without
|
||
|
|
modification, are permitted provided that the following conditions are met:
|
||
|
|
* Redistributions of source code must retain the above copyright
|
||
|
|
notice, this list of conditions and the following disclaimer.
|
||
|
|
* Redistributions in binary form must reproduce the above copyright
|
||
|
|
notice, this list of conditions and the following disclaimer in the
|
||
|
|
documentation and/or other materials provided with the distribution.
|
||
|
|
* Neither the name of the Universite de Sherbrooke nor the
|
||
|
|
names of its contributors may be used to endorse or promote products
|
||
|
|
derived from this software without specific prior written permission.
|
||
|
|
|
||
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||
|
|
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||
|
|
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||
|
|
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||
|
|
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||
|
|
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||
|
|
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||
|
|
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||
|
|
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||
|
|
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef ODOMETRYINFO_H_
|
||
|
|
#define ODOMETRYINFO_H_
|
||
|
|
|
||
|
|
namespace rtabmap {
|
||
|
|
|
||
|
|
class OdometryInfo
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
OdometryInfo() :
|
||
|
|
lost(true),
|
||
|
|
matches(-1),
|
||
|
|
inliers(-1),
|
||
|
|
variance(-1),
|
||
|
|
features(-1),
|
||
|
|
localMapSize(-1),
|
||
|
|
time(0.0f)
|
||
|
|
{}
|
||
|
|
bool lost;
|
||
|
|
int matches;
|
||
|
|
int inliers;
|
||
|
|
float variance;
|
||
|
|
int features;
|
||
|
|
int localMapSize;
|
||
|
|
float time;
|
||
|
|
};
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif /* ODOMETRYINFO_H_ */
|