struct mrpt::obs::CObservationBearingRange::TMeasurement


Each one of the measurements:

#include <mrpt/obs/CObservationBearingRange.h>

struct TMeasurement
    // fields

    float range;
    float yaw;
    float pitch;
    int32_t landmarkID;
    mrpt::math::CMatrixDouble33 covariance;


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).

Set pitch to zero for 2D sensors. See mrpt::poses::CPose3D for a definition of the 3D angles.

int32_t landmarkID

The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark.

mrpt::math::CMatrixDouble33 covariance

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