Localize format

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 Variance of the covariance matrix to the pose estimate
      • cov[1] (float): Y Variance of the covariance matrix to the pose estimate
      • cov[2] (float): yaw Variance of the covariance matrix to the pose estimate
      • cov[3] (float): X,Y covariance of the pose estimate
      • cov[4] (float): Y,yaw covariance of the pose estimate
      • cov[5] (float): X,yaw covariance of the 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