localize format

localize log format More...

localize log format

The following type:subtype localize messages can be logged:

• 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