struct mrpt::obs::CObservationRange::TMeasurement

Overview

#include <mrpt/obs/CObservationRange.h>

struct TMeasurement
{
    // fields

    uint16_t sensorID = 0;
    math::TPose3D sensorPose;
    float sensedDistance = 0;
    float sensorNoiseStdDeviation = 0;

    // construction

    TMeasurement();
};

Fields

uint16_t sensorID = 0

Some kind of sensor ID which identifies it on the bus (if applicable, 0 otherwise)

math::TPose3D sensorPose

The 6D position of the sensor on the robot.

float sensedDistance = 0

The measured range, in meters (or a value of 0 if there was no detected echo).

float sensorNoiseStdDeviation = 0

If !=0, the nominal sensor noise, as one standard deviation.