#include <mpp/data/VehicleLocalizationState.h>

Public Attributes
bool	valid = false

mrpt::math::TPose2D	pose

mrpt::system::TTimeStamp	timestamp = INVALID_TIMESTAMP

std::optional< mrpt::math::CMatrixDouble33 >	poseCov

std::string	frame_id = "map"

Detailed Description

Data returned by VehicleMotionInterface::get_localization()

Member Data Documentation

◆ frame_id

std::string mpp::VehicleLocalizationState::frame_id = "map"

ID of the coordinate frame for pose. Default if not modified is "map". [Only for possible future support for submapping]

◆ pose

mrpt::math::TPose2D mpp::VehicleLocalizationState::pose

The current robot pose (typically from a mapping/localization module), in global map coordinates. (x,y: meters, phi: radians)

◆ poseCov

std::optional<mrpt::math::CMatrixDouble33> mpp::VehicleLocalizationState::poseCov

Optional: if available, place here the (x,y,phi) covariance matrix representing the uncertainty in the pose localization from the mapping/particle filter system. It could be used by the plan executor to take uncertainties into account or to stop the robot if localization accuracy drops below a certain required accuracy.

◆ timestamp

mrpt::system::TTimeStamp mpp::VehicleLocalizationState::timestamp = INVALID_TIMESTAMP

The timestamp for the read pose. Use mrpt::system::now() unless you have something more accurate.

◆ valid

bool mpp::VehicleLocalizationState::valid = false

Set to true if data could be retrieved from the robot system successfully, set to false upon any critical error that made it impossible to fill in the data fields in this structure.

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

/home/docs/checkouts/readthedocs.org/user_builds/selfdriving/checkouts/latest/mrpt_path_planning/include/mpp/data/VehicleLocalizationState.h