echoflow::Target Struct Reference

Struct for holding the properties of a particle (x/y position, course, speed, weight, obs_likelihood, age). More...

#include <particle_filter.hpp>

Public Attributes
double	x
	X position of the particle (meters)
double	y
	Y position of the particle (meters)
double	course
	Course of the particle (radians, CCW from +X axis)
double	speed
	Linear speed of the particle (meters per second)
double	yaw_rate
	Yaw rate of the particle (radians per second)
double	weight
	Importance weight of the particle (normalized for resampling)
double	obs_likelihood
	Raw observation likelihood before weight normalization.
double	age
	Age of the particle since last initialization or reseeding (seconds)

Detailed Description

Struct for holding the properties of a particle (x/y position, course, speed, weight, obs_likelihood, age).

Member Data Documentation

age

double echoflow::Target::age

Age of the particle since last initialization or reseeding (seconds)

course

double echoflow::Target::course

Course of the particle (radians, CCW from +X axis)

obs_likelihood

double echoflow::Target::obs_likelihood

Raw observation likelihood before weight normalization.

speed

double echoflow::Target::speed

Linear speed of the particle (meters per second)

weight

double echoflow::Target::weight

Importance weight of the particle (normalized for resampling)

x

double echoflow::Target::x

X position of the particle (meters)

y

double echoflow::Target::y

Y position of the particle (meters)

yaw_rate

double echoflow::Target::yaw_rate

Yaw rate of the particle (radians per second)

---

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

• echoflow/include/echoflow/particle_filter.hpp