Main MRPT website > **C++ reference for MRPT 1.5.7**

mrpt::obs::CObservationBearingRange::TMeasurement Struct Reference

Each one of the measurements:

Definition at line 49 of file obs/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... | |

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 64 of file obs/CObservationBearingRange.h.

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

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 61 of file obs/CObservationBearingRange.h.

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

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

Definition at line 58 of file obs/CObservationBearingRange.h.

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

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

The sensed landmark distance, in meters.

Definition at line 52 of file obs/CObservationBearingRange.h.

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

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 58 of file obs/CObservationBearingRange.h.

Page generated by Doxygen 1.8.14 for MRPT 1.5.7 Git: 8277875f6 Mon Jun 11 02:47:32 2018 +0200 at lun oct 28 01:50:49 CET 2019 |