Detailed Description

Used to return optional information from mrpt::topography::path_from_rtk_gps.

Definition at line 24 of file path_from_rtk_gps.h.

Public Attributes
std::map< mrpt::Clock::time_point, mrpt::math::TPoint3D >	best_gps_path
	the path of the "best" GPS. More...

std::map< mrpt::Clock::time_point, double >	mahalabis_quality_measure
	A measure of the quality at each point (may be empty if not there is no enough information). More...

std::map< mrpt::Clock::time_point, mrpt::math::CMatrixDouble66 >	vehicle_uncertainty
	The 6x6 covariance matrix for the uncertainty of each vehicle pose (may be empty if there is no W_star info). More...

mrpt::math::CMatrixDouble	W_star
	The reference covariance matrix used to compute vehicle_uncertainty. More...

Member Data Documentation

std::map<mrpt::Clock::time_point, mrpt::math::TPoint3D> mrpt::topography::TPathFromRTKInfo::best_gps_path

the path of the "best" GPS.

Definition at line 27 of file path_from_rtk_gps.h.

std::map<mrpt::Clock::time_point, double> mrpt::topography::TPathFromRTKInfo::mahalabis_quality_measure

A measure of the quality at each point (may be empty if not there is no enough information).

Definition at line 30 of file path_from_rtk_gps.h.

std::map<mrpt::Clock::time_point, mrpt::math::CMatrixDouble66> mrpt::topography::TPathFromRTKInfo::vehicle_uncertainty

The 6x6 covariance matrix for the uncertainty of each vehicle pose (may be empty if there is no W_star info).

Definition at line 34 of file path_from_rtk_gps.h.

mrpt::math::CMatrixDouble mrpt::topography::TPathFromRTKInfo::W_star

The reference covariance matrix used to compute vehicle_uncertainty.

Definition at line 36 of file path_from_rtk_gps.h.