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spatialrust_mapping/
lib.rs

1//! Trajectories, pose graphs, and localization primitives.
2
3#![deny(unsafe_code)]
4#![warn(missing_docs)]
5
6mod error;
7mod motion;
8mod pose_graph;
9mod scan;
10mod trajectory;
11#[cfg(feature = "vision-odometry")]
12mod vision;
13
14pub use error::{MappingError, MappingResult};
15pub use motion::{DeltaMotion, RelativeMotionEstimator, SyntheticOdometry};
16pub use pose_graph::{PoseGraph, PoseGraphEdge, PoseNodeId};
17#[cfg(feature = "scan-icp")]
18pub use scan::IcpScanMatcher;
19pub use scan::{ScanMatcher, ScanOdometry, ScanOdometryConfig, ScanOdometryResult};
20pub use trajectory::{StampedPose, Trajectory};
21#[cfg(feature = "vision-odometry")]
22pub use vision::{delta_from_monocular_odometry, delta_from_rgbd_odometry};