Struct NodeReport 

pub struct NodeReport {
    pub node: usize,
    pub covariance: Matrix6<f64>,
    pub determined: bool,
}

How well the survey determines one station.

The covariance is reported and the readings are derived from it, rather than the other way round, because the frame it is in is the caller’s business. A graph built in coordinates conjugated onto the survey — which is what anything georeferenced has to do — gets marginals in those coordinates, and only the caller knows how to carry them back.

Fields

node: usize

Its position in PoseGraph::poses.

covariance: Matrix6<f64>

The marginal covariance of this station’s pose, ξ = [ρ; φ], relative to the anchor.

determined: bool

Whether the survey determines this station at all.

False when some direction of it lies in the null space of the normal equations — nothing joins it to the anchor, or nothing measures one of its degrees of freedom. The covariance is then meaningless rather than large, and the readings below say so by returning infinity.

Implementations

impl NodeReport

pub fn position_covariance(&self) -> Matrix3<f64>

The 3×3 marginal covariance of position.

pub fn position(&self) -> (f64, Vector3<f64>)

Standard deviation along the worst-determined direction of position, metres, and the direction itself.

pub fn orientation(&self) -> f64

Standard deviation about the worst-determined axis, radians.

Trait Implementations

impl Clone for NodeReport

fn clone(&self) -> NodeReport

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for NodeReport

impl Debug for NodeReport

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for NodeReport

fn eq(&self, other: &NodeReport) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for NodeReport