Framework-provided init context delivered to BB.Estimator.init/1 via
the :estimator_context option.
Carries the topology-derived information an estimator needs to interpret its inputs and stamp its outputs correctly: the robot module, the estimator's full path, the target frame for its outputs, and the static frame transforms from each input's source frame to the target frame.
Fields
:robot- The robot module that owns this estimator.:path- The estimator's full path (e.g.[:sensor, :base_link, :imu, :orientation]for sensor-nested or[:estimator, :base_link, :pose]for link-nested).:target_frame- The frame atom of the estimator's outputs. For sensor-nested estimators this is the parent sensor's frame. For link-nested estimators this is the parent link's name.:transforms- A map from input declaration name to aBB.Math.Transform.t()describing the static transform from that input's source frame into the target frame. For inputs already in the target frame the value isBB.Math.Transform.identity(). Empty for sensor-nested estimators (no transform needed - the input is in the same frame as the output).
Summary
Types
@type t() :: %BB.Estimator.Context{ path: [atom()], robot: module(), target_frame: atom(), transforms: %{required(atom()) => BB.Math.Transform.t()} }