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文件:dometry_state_tracker.h
#ifndef CARTOGRAPHER_MAPPING_ODOMETRY_STATE_TRACKER_H_
#define CARTOGRAPHER_MAPPING_ODOMETRY_STATE_TRACKER_H_
#include <deque>
#include "cartographer/common/time.h"
#include "cartographer/transform/rigid_transform.h"
namespace cartographer {
namespace mapping {
/*
.lua设置:
imu_gravity_time_constant = 10.,
num_odometry_states = 1000,
OdometryState类含3个数据成员
1,time,时间
2,Rigid3d,里程计的位置
3,Rigid3d,状态位置
*/