Struct ScanOdometry 

pub struct ScanOdometry { /* private fields */ }

Deterministic scan odometry runner over one topic in a memory episode.

Implementations

impl ScanOdometry

pub fn try_new(config: ScanOdometryConfig) -> MappingResult<Self>

Creates a scan odometry runner with validated limits.

pub const fn config(&self) -> ScanOdometryConfig

Returns the configured scan limits.

pub fn estimate<M: ScanMatcher>( &self, episode: &MemoryEpisode, topic: &TopicId, matcher: &M, ) -> MappingResult<ScanOdometryResult>

Estimates a deterministic trajectory and relative pose graph.

The episode is already timestamp/topic ordered. Only the selected topic is borrowed, and at most max_scans records are inspected. Every selected record must use the same frame and clock domain. The first scan is the graph root; each matcher result becomes the edge current_T_previous and is composed using the pose-graph convention.

Trait Implementations

impl Clone for ScanOdometry

fn clone(&self) -> ScanOdometry

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ScanOdometry

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for ScanOdometry

fn eq(&self, other: &ScanOdometry) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for ScanOdometry

impl Eq for ScanOdometry

impl StructuralPartialEq for ScanOdometry