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

Detailed Description

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...
 

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 64 of file obs/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 61 of file obs/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 52 of file obs/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 58 of file obs/CObservationBearingRange.h.

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




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