mrpt::slam::CObservationBearingRange::TMeasurement Struct Reference

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Detailed Description

Each one of the measurements:

#include <mrpt/slam/CObservationBearingRange.h>

List of all members.

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.
CMatrixDouble33	covariance
	The covariance matrix of the landmark, with variable indices [0,1,2] being [range,yaw,pitch].

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Member Data Documentation

CMatrixDouble33 mrpt::slam::CObservationBearingRange::TMeasurement::covariance

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

Definition at line 83 of file CObservationBearingRange.h.

int32_t mrpt::slam::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 80 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::TMeasurement::pitch

Definition at line 77 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::TMeasurement::range

The sensed landmark distance, in meters.

Definition at line 71 of file CObservationBearingRange.h.

float mrpt::slam::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 77 of file CObservationBearingRange.h.