localize format
[Data logging]
Collaboration diagram for localize format:
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- 1:1 (PLAYER_LOCALIZE_DATA_HYPOTHS) - A set of pose hypotheses. The format is:
- pending_count (int): number of pending (unprocessed observations)
- pending time (float): time stamp of the last observation processed
- hypoths_coun (int): number of pose hypotheses
- list of hypotheses; for each hypothesis
- px (float): X coordinate of the mean value of the pose estimate (in m)
- py (float): Y coordinate of the mean value of the pose estimate (in m)
- pa (float): yaw coordinate of the mean value of the pose estimate (in rad)
- cov[0] (float): X coordinate of the covariance matrix pose estimate
- cov[1] (float): Y coordinate of the covariance matrix pose estimate
- cov[2] (float): yaw coordinate of the covariance matrix pose estimate
- alpha (float): weight coefficient for linear combination
- 4:2 (PLAYER_LOCALIZE_REQ_GET_PARTICLES) - Current particle set. The format is:
- px (float): X coordinate of best (?) pose (in m?)
- py (float): Y coordinate of best (?) pose (in m?)
- pa (float): yaw coordinate of best (?) pose (in ??)
- variance (float): variance of the best(?) pose
- particles_count (int): number of particles; for each particle:
- px (float: X coordinate of particle's pose (in m)
- py (float: Y coordinate of particle's pose (in m)
- pa (float: yaw coordinate of particle's pose (in rad)
- alpha (float): weight coefficient for linear combination