libstp::localization::Observation Struct Reference

Sigma-weighted pose observation pushed by Resync-Steps. More...

#include <localization.hpp>

Collaboration diagram for libstp::localization::Observation:

Classes
struct	SurfaceMeasurement

Public Types
enum class	SurfaceKind : uint8_t { Line = 0 , Wall = 1 }

Public Attributes
libstp::foundation::Pose	pose {}
Eigen::Vector3d	sigma {1e-3, 1e-3, 1e-3}
std::vector< SurfaceMeasurement >	surface_measurements

Detailed Description

Sigma-weighted pose observation pushed by Resync-Steps.

sigma is the measurement standard deviation per axis (x, y, theta). Infinite sigma leaves that axis untouched.

Definition at line 29 of file localization.hpp.

Member Enumeration Documentation

SurfaceKind

enum class libstp::localization::Observation::SurfaceKind : uint8_t

strong

Enumerator
Line
Wall

Definition at line 30 of file localization.hpp.

Member Data Documentation

pose

libstp::foundation::Pose libstp::localization::Observation::pose {}

Definition at line 42 of file localization.hpp.

sigma

Eigen::Vector3d libstp::localization::Observation::sigma {1e-3, 1e-3, 1e-3}

Definition at line 43 of file localization.hpp.

surface_measurements

std::vector<SurfaceMeasurement> libstp::localization::Observation::surface_measurements

Definition at line 44 of file localization.hpp.

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

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-localization/include/localization/localization.hpp