Struct CObservationBearingRange::TMeasurement

Nested Relationships

This struct is a nested type of Class CObservationBearingRange.

Struct Documentation

struct TMeasurement

Each one of the measurements:

Public Members

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.

float pitch
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].