struct mrpt::topography::TPathFromRTKInfo

Overview

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

#include <mrpt/topography/path_from_rtk_gps.h>

struct TPathFromRTKInfo
{
    // fields

    std::map<mrpt::Clock::time_point, mrpt::math::TPoint3D> best_gps_path;
    std::map<mrpt::Clock::time_point, double> mahalabis_quality_measure;
    std::map<mrpt::Clock::time_point, mrpt::math::CMatrixDouble66> vehicle_uncertainty;
    mrpt::math::CMatrixDouble W_star;
};

Fields

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

the path of the “best” GPS.

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).

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).

mrpt::math::CMatrixDouble W_star

The reference covariance matrix used to compute vehicle_uncertainty.