Some publishing parameters. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW int	publishRate = 200
	Maximum publishing rate. [Hz]. More...

bool	publishLandmarks = true
	Select, if you want to publish landmarks at all. More...

float	landmarkQualityThreshold = 1.0e-5
	Quality threshold under which landmarks are not published. Between 0 and 1. More...

float	maxLandmarkQuality = 0.05
	Quality above which landmarks are assumed to be of the best quality. Between 0 and 1. More...

size_t	maxPathLength = 100
	Maximum length of ros::nav_mgsgs::Path to be published. More...

bool	publishImuPropagatedState = true
	Should the state that is propagated with IMU messages be published? Or just the optimized ones? More...

okvis::kinematics::Transformation	T_Wc_W = okvis::kinematics::Transformation::Identity()
	Provide custom World frame Wc. More...

FrameName	trackedBodyFrame = FrameName::B
	B or S, the frame of reference that will be expressed relative to the selected worldFrame Wc. More...

FrameName	velocitiesFrame = FrameName::B
	B or S, the frames in which the velocities of the selected trackedBodyFrame will be expressed in. More...

Detailed Description

Some publishing parameters.

Member Data Documentation

float okvis::PublishingParameters::landmarkQualityThreshold = 1.0e-5

Quality threshold under which landmarks are not published. Between 0 and 1.

float okvis::PublishingParameters::maxLandmarkQuality = 0.05

Quality above which landmarks are assumed to be of the best quality. Between 0 and 1.

size_t okvis::PublishingParameters::maxPathLength = 100

Maximum length of ros::nav_mgsgs::Path to be published.

bool okvis::PublishingParameters::publishImuPropagatedState = true

Should the state that is propagated with IMU messages be published? Or just the optimized ones?

bool okvis::PublishingParameters::publishLandmarks = true

Select, if you want to publish landmarks at all.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW int okvis::PublishingParameters::publishRate = 200

Maximum publishing rate. [Hz].

Provide custom World frame Wc.

FrameName okvis::PublishingParameters::trackedBodyFrame = FrameName::B

B or S, the frame of reference that will be expressed relative to the selected worldFrame Wc.

FrameName okvis::PublishingParameters::velocitiesFrame = FrameName::B

B or S, the frames in which the velocities of the selected trackedBodyFrame will be expressed in.

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