mp2p_icp::metric_map_t::Georeferencing Struct Reference

#include <metricmap.h>

Public Attributes
mrpt::topography::TGeodeticCoords	geo_coord
mrpt::poses::CPose3DPDFGaussian	T_enu_to_map

Detailed Description

Definition at line 99 of file metricmap.h.

Member Data Documentation

geo_coord

mrpt::topography::TGeodeticCoords mp2p_icp::metric_map_t::Georeferencing::geo_coord

The geodetic coordinates (on WGS-84) of the metric map ENU frame of reference.

Definition at line 103 of file metricmap.h.

T_enu_to_map

mrpt::poses::CPose3DPDFGaussian mp2p_icp::metric_map_t::Georeferencing::T_enu_to_map

The SE(3) transformation from the ENU (earth-north-up) frame to the metric map local frame of reference. If this is the identity (default) it means the map is already in ENU coordinates (i.e. +X is East, +Y is North, +Z is up) and the point (0,0,0) is the one having the geodetic coordinates geo_coord

Definition at line 112 of file metricmap.h.

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The documentation for this struct was generated from the following file:

• metricmap.h