struct mrpt::slam::CRejectionSamplingRangeOnlyLocalization::TDataPerBeacon

Overview

Data for each beacon observation with a correspondence with the map.

#include <mrpt/slam/CRejectionSamplingRangeOnlyLocalization.h>

struct TDataPerBeacon
{
    // fields

    mrpt::math::TPoint3D sensorOnRobot;
    mrpt::math::TPoint2D beaconPosition;
    float radiusAtRobotPlane {0};
    float minAngle {0};
    float maxAngle {0};

    // construction

    TDataPerBeacon();
};