Method getLoopRelativeQ

pose_graph/src/pose_graph/Keyframe.cpp:578–580

Eigen::Vector3d Keyframe::getLoopRelativeT() { return Eigen::Vector3d(loop_info(0), loop_info(1), loop_info(2)); }

Eigen::Quaterniond Keyframe::getLoopRelativeQ() {
  return Eigen::Quaterniond(loop_info(3), loop_info(4), loop_info(5), loop_info(6));
}

double Keyframe::getLoopRelativeYaw() { return loop_info(7); }