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<title>mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin Struct Reference</title>
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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1slam.html">slam</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html">TLikelihoodOptions</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html">TGPSOrigin</a> </li>
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<div class="title">mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>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. </p>
</div>
<p><code>#include <<a class="el" href="_c_landmarks_map_8h_source.html">mrpt/slam/CLandmarksMap.h</a>></code></p>
<p><a href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#a84e3076187fd45e6b85f05553cc21ec8">TGPSOrigin</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#a1ab6597e3ba8bd90251384e5684a4d8e">longitude</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Longitud del Origen del GPS (en grados) <a href="#a1ab6597e3ba8bd90251384e5684a4d8e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#af3a3823d6c59d4a67411badd5cad6483">latitude</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Latitud del Origen del GPS (en grados) <a href="#af3a3823d6c59d4a67411badd5cad6483"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#ad6eb67431b01d8983d6ea8e9807ff960">altitude</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Altitud del Origen del GPS (en metros) <a href="#ad6eb67431b01d8983d6ea8e9807ff960"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#ac4630e845be8f2b915e810efc02d712a">ang</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Estas tres opciones sirven para encajar mapas de GPS con posiciones absolutas con mapas de otros sensores (como laser :D) se obtienen facilmente con el programa matlab map_matching ang : Rotación del mapa del GPS (para encajarlo en grados) x_shift: Desplazamiento en x relativo al robot (en metros) y_shift: Desplazamiento en y relativo al robot (en metros) <a href="#ac4630e845be8f2b915e810efc02d712a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#a478ad2efbfdf5c057ee12c8f6c25afdf">x_shift</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#a1f8dc24a3f12b72a8ffc83d471cf9c75">y_shift</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#a074d8b98ce620a984b86164e49c3dea4">min_sat</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Número mínimo de satelites para tener en cuenta los datos. <a href="#a074d8b98ce620a984b86164e49c3dea4"></a><br/></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a84e3076187fd45e6b85f05553cc21ec8"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::TGPSOrigin" ref="a84e3076187fd45e6b85f05553cc21ec8" args="()" -->
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<td class="memname">mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::TGPSOrigin </td>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ad6eb67431b01d8983d6ea8e9807ff960"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::altitude" ref="ad6eb67431b01d8983d6ea8e9807ff960" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#ad6eb67431b01d8983d6ea8e9807ff960">mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::altitude</a></td>
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<p>Altitud del Origen del GPS (en metros) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00367">367</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="ac4630e845be8f2b915e810efc02d712a"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::ang" ref="ac4630e845be8f2b915e810efc02d712a" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#ac4630e845be8f2b915e810efc02d712a">mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::ang</a></td>
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<div class="memdoc">
<p>Estas tres opciones sirven para encajar mapas de GPS con posiciones absolutas con mapas de otros sensores (como laser :D) se obtienen facilmente con el programa matlab map_matching ang : Rotación del mapa del GPS (para encajarlo en grados) x_shift: Desplazamiento en x relativo al robot (en metros) y_shift: Desplazamiento en y relativo al robot (en metros) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00375">375</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="af3a3823d6c59d4a67411badd5cad6483"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::latitude" ref="af3a3823d6c59d4a67411badd5cad6483" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#af3a3823d6c59d4a67411badd5cad6483">mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::latitude</a></td>
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<p>Latitud del Origen del GPS (en grados) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00363">363</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="a1ab6597e3ba8bd90251384e5684a4d8e"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::longitude" ref="a1ab6597e3ba8bd90251384e5684a4d8e" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#a1ab6597e3ba8bd90251384e5684a4d8e">mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::longitude</a></td>
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<div class="memdoc">
<p>Longitud del Origen del GPS (en grados) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00359">359</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="a074d8b98ce620a984b86164e49c3dea4"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::min_sat" ref="a074d8b98ce620a984b86164e49c3dea4" args="" -->
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<td class="memname">unsigned int <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#a074d8b98ce620a984b86164e49c3dea4">mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::min_sat</a></td>
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<p>Número mínimo de satelites para tener en cuenta los datos. </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00381">381</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="a478ad2efbfdf5c057ee12c8f6c25afdf"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::x_shift" ref="a478ad2efbfdf5c057ee12c8f6c25afdf" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#a478ad2efbfdf5c057ee12c8f6c25afdf">mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::x_shift</a></td>
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<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00375">375</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="a1f8dc24a3f12b72a8ffc83d471cf9c75"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::y_shift" ref="a1f8dc24a3f12b72a8ffc83d471cf9c75" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#a1f8dc24a3f12b72a8ffc83d471cf9c75">mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::y_shift</a></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00375">375</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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