.. _pilot.LocalizationStatus:

pilot.LocalizationStatus
========================

.. cpp:namespace:: pilot::LocalizationStatus

Class
-----

`LocalizationStatus` contains information about the current state of localization.

Inherits from :ref:`pilot.Sample`.


Fields
------

.. cpp:member:: localization_mode_e mode
	
	Current localization mode, see :ref:`pilot.localization_mode_e`.
	
.. cpp:member:: set<string> sensors
	
	Current list of sensors used for localization.
	
.. cpp:member:: float update_rate
	
	Current update rate in [1/s]
	
.. cpp:member:: int num_points
	
	Number of valid sensor points, excluding reflectors.
	
.. cpp:member:: int num_points_total
	
	Number of valid sensor points, including reflector points.
	
.. cpp:member:: Vector3f std_dev
	
	Current particle spread standard deviation (x, y, yaw) [m, m, rad]. See :ref:`math.Vector3f`.
	
.. cpp:member:: float score
	
	Current scan matching score, ie. `average likelihood`.
	More is better, maximum is `1.0` (ie. all scan points are matching exactly to the Grid Map).