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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html">CObservationBearingRange</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html">TMeasurement</a> </li>
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<div class="title">mrpt::slam::CObservationBearingRange::TMeasurement Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::CObservationBearingRange::TMeasurement" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Each one of the measurements: </p>
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<p><code>#include <<a class="el" href="_c_observation_bearing_range_8h_source.html">mrpt/slam/CObservationBearingRange.h</a>></code></p>
<p><a href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement-members.html">List of all members.</a></p>
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Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#a0632980203e53645c04000f8d393ff02">range</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The sensed landmark distance, in meters. <a href="#a0632980203e53645c04000f8d393ff02"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#a585057c690a00acb4521b680a84d4977">yaw</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevation). <a href="#a585057c690a00acb4521b680a84d4977"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#acf3aba9e71a27d9f54556d7d62b431a8">pitch</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#ad8a58ea98e8838b64d525fec009dc8f7">landmarkID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark. <a href="#ad8a58ea98e8838b64d525fec009dc8f7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#a7d62df9883edf434f05dc5eb2f16b56e">covariance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The covariance matrix of the landmark, with variable indices [0,1,2] being [range,yaw,pitch]. <a href="#a7d62df9883edf434f05dc5eb2f16b56e"></a><br/></td></tr>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a7d62df9883edf434f05dc5eb2f16b56e"></a><!-- doxytag: member="mrpt::slam::CObservationBearingRange::TMeasurement::covariance" ref="a7d62df9883edf434f05dc5eb2f16b56e" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> <a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#a7d62df9883edf434f05dc5eb2f16b56e">mrpt::slam::CObservationBearingRange::TMeasurement::covariance</a></td>
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<p>The covariance matrix of the landmark, with variable indices [0,1,2] being [range,yaw,pitch]. </p>
<p>Definition at line <a class="el" href="_c_observation_bearing_range_8h_source.html#l00083">83</a> of file <a class="el" href="_c_observation_bearing_range_8h_source.html">CObservationBearingRange.h</a>.</p>
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<a class="anchor" id="ad8a58ea98e8838b64d525fec009dc8f7"></a><!-- doxytag: member="mrpt::slam::CObservationBearingRange::TMeasurement::landmarkID" ref="ad8a58ea98e8838b64d525fec009dc8f7" args="" -->
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<td class="memname">int32_t <a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#ad8a58ea98e8838b64d525fec009dc8f7">mrpt::slam::CObservationBearingRange::TMeasurement::landmarkID</a></td>
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<p>The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark. </p>
<p>Definition at line <a class="el" href="_c_observation_bearing_range_8h_source.html#l00080">80</a> of file <a class="el" href="_c_observation_bearing_range_8h_source.html">CObservationBearingRange.h</a>.</p>
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<a class="anchor" id="acf3aba9e71a27d9f54556d7d62b431a8"></a><!-- doxytag: member="mrpt::slam::CObservationBearingRange::TMeasurement::pitch" ref="acf3aba9e71a27d9f54556d7d62b431a8" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#acf3aba9e71a27d9f54556d7d62b431a8">mrpt::slam::CObservationBearingRange::TMeasurement::pitch</a></td>
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<p>Definition at line <a class="el" href="_c_observation_bearing_range_8h_source.html#l00077">77</a> of file <a class="el" href="_c_observation_bearing_range_8h_source.html">CObservationBearingRange.h</a>.</p>
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<a class="anchor" id="a0632980203e53645c04000f8d393ff02"></a><!-- doxytag: member="mrpt::slam::CObservationBearingRange::TMeasurement::range" ref="a0632980203e53645c04000f8d393ff02" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#a0632980203e53645c04000f8d393ff02">mrpt::slam::CObservationBearingRange::TMeasurement::range</a></td>
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<p>The sensed landmark distance, in meters. </p>
<p>Definition at line <a class="el" href="_c_observation_bearing_range_8h_source.html#l00071">71</a> of file <a class="el" href="_c_observation_bearing_range_8h_source.html">CObservationBearingRange.h</a>.</p>
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<a class="anchor" id="a585057c690a00acb4521b680a84d4977"></a><!-- doxytag: member="mrpt::slam::CObservationBearingRange::TMeasurement::yaw" ref="a585057c690a00acb4521b680a84d4977" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#a585057c690a00acb4521b680a84d4977">mrpt::slam::CObservationBearingRange::TMeasurement::yaw</a></td>
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<p>The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevation). </p>
<p>Set pitch to zero for 2D sensors. See <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> for a definition of the 3D angles. </p>
<p>Definition at line <a class="el" href="_c_observation_bearing_range_8h_source.html#l00077">77</a> of file <a class="el" href="_c_observation_bearing_range_8h_source.html">CObservationBearingRange.h</a>.</p>
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