MRPT  1.9.9
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mrpt::obs::CObservationBearingRange::TMeasurement Struct Reference

Detailed Description

Each one of the measurements:

Definition at line 53 of file CObservationBearingRange.h.

#include <mrpt/obs/CObservationBearingRange.h>

Public Attributes

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

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 71 of file CObservationBearingRange.h.

Referenced by mrpt::vision::StereoObs2BRObs().

◆ 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 67 of file CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().

◆ pitch

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

◆ range

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

The sensed landmark distance, in meters.

Definition at line 56 of file CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().

◆ 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 63 of file CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().




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