player_localize_hypoth Struct Reference

Hypothesis format. More...

`#include <player_interfaces.h>`

Collaboration diagram for player_localize_hypoth:

## Detailed Description

Hypothesis format.

Since the robot pose may be ambiguous (i.e., the robot may at any of a number of widely spaced locations), the `localize`

interface is capable of returning more that one hypothesis.

## Public Attributes | |

player_pose2d_t | mean |

The mean value of the pose estimate (m, m, rad). | |

double | cov [6] |

The covariance matrix pose estimate (lower half, symmetric matrix) (cov(xx) in m$^2$, cov(yy) in $^2$, cov(aa) in rad$^2$, cov(xy), cov(ya), cov(xa) ). | |

double | alpha |

The weight coefficient for linear combination (alpha) |

## Member Data Documentation

double player_localize_hypoth::cov[6] |

The covariance matrix pose estimate (lower half, symmetric matrix) (cov(xx) in m$^2$, cov(yy) in $^2$, cov(aa) in rad$^2$, cov(xy), cov(ya), cov(xa) ).

The mean value of the pose estimate (m, m, rad).

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