Struct TPathFromRTKInfo

Defined in File path_from_rtk_gps.h

Struct Documentation

struct TPathFromRTKInfo

Used to return optional information from mrpt::slam::path_from_rtk_gps

Public Members

std::map<mrpt::Clock::time_point, mrpt::math::TPoint3D> best_gps_path: the path of the “best” GPS.

std::map<mrpt::Clock::time_point, double> mahalabis_quality_measure: A measure of the quality at each point (may be empty if not there is no enough information).

std::map<mrpt::Clock::time_point, mrpt::math::CMatrixDouble66> vehicle_uncertainty: The 6x6 covariance matrix for the uncertainty of each vehicle pose (may be empty if there is no W_star info).

mrpt::math::CMatrixDouble W_star: The reference covariance matrix used to compute vehicle_uncertainty.