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mrpt::obs::CObservationBearingRange::TMeasurement Struct Reference

Detailed Description

Each one of the measurements:

Definition at line 49 of file obs/CObservationBearingRange.h.

#include <mrpt/obs/CObservationBearingRange.h>

Public Attributes

float range
 The sensed landmark distance, in meters.
 
float yaw
 The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevation).
 
float pitch
 
int32_t landmarkID
 The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark.
 
mrpt::math::CMatrixDouble33 covariance
 The covariance matrix of the landmark, with variable indices [0,1,2] being [range,yaw,pitch].
 

Member Data Documentation

◆ covariance

mrpt::math::CMatrixDouble33 mrpt::obs::CObservationBearingRange::TMeasurement::covariance

The covariance matrix of the landmark, with variable indices [0,1,2] being [range,yaw,pitch].

Definition at line 64 of file obs/CObservationBearingRange.h.

◆ landmarkID

int32_t mrpt::obs::CObservationBearingRange::TMeasurement::landmarkID

The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark.

Definition at line 61 of file obs/CObservationBearingRange.h.

◆ pitch

float mrpt::obs::CObservationBearingRange::TMeasurement::pitch

Definition at line 58 of file obs/CObservationBearingRange.h.

◆ range

float mrpt::obs::CObservationBearingRange::TMeasurement::range

The sensed landmark distance, in meters.

Definition at line 52 of file obs/CObservationBearingRange.h.

◆ yaw

float mrpt::obs::CObservationBearingRange::TMeasurement::yaw

The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevation).

Set pitch to zero for 2D sensors. See mrpt::poses::CPose3D for a definition of the 3D angles.

Definition at line 58 of file obs/CObservationBearingRange.h.




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