LocalizationStatus contains information about the current state of localization.

Inherits from pilot.Sample.


localization_mode_e mode

Current localization mode, see pilot.localization_mode_e.

set<string> sensors

Current list of sensors used for localization.

float update_rate

Current update rate in [1/s]

int num_points

Number of valid sensor points, excluding reflectors.

int num_points_total

Number of valid sensor points, including reflector points.

Vector3f std_dev

Current particle spread standard deviation (x, y, yaw) [m, m, rad]. See math.Vector3f.

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).