struct mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin

Overview

This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot.

#include <mrpt/maps/CLandmarksMap.h>

struct TGPSOrigin
{
    // fields

    double longitude {-4.47763833333333};
    double latitude {36.71559000000000};
    double altitude {42.3};
    double ang {0};
    double x_shift {0};
    double y_shift {0};
    unsigned int min_sat {4};

    // construction

    TGPSOrigin();
};

Fields

double longitude {-4.47763833333333}

degrees

double latitude {36.71559000000000}

degrees

double altitude {42.3}

meters

double ang {0}

These 3 params allow rotating and shifting GPS coordinates with other 2D maps (e.g.

gridmaps).

• ang : Map rotation [deg]

• x_shift, y_shift: (x,y) offset [m]

unsigned int min_sat {4}

Minimum number of sats to take into account the data.