Pose Initializer

Relative localizers need a good initial estimate of the pose to converge to a good solution within a reasonable time. For this reason, a pose initializer is required to make an estimate of the pose of the vehicle.

Algorithm Design

Alternative localization modalities provide a reliable source for pose initialization. That is why the initializer will try to lookup the transform at a given time from a transform tree when possible.

If the transform at a given time is not available within the given transform tree, the initializer will attempt to extrapolate the transform at a given time using a strategy that is implementation defined. Following implementations are currently available:

BestEfforInitializer: Returns the latest available transform when extrapolation is required.

Related issues

#142 Implement RelativeLocalizerIntializerBase, and a simple implementation