Struct CRangeBearingKFSLAM2D::TDataAssocInfo
Defined in File CRangeBearingKFSLAM2D.h
Nested Relationships
This struct is a nested type of Class CRangeBearingKFSLAM2D.
Struct Documentation
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struct TDataAssocInfo
Information for data-association:
See also
Public Functions
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inline TDataAssocInfo()
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inline void clear()
Public Members
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mrpt::math::CMatrixDynamic<kftype> Y_pred_means
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mrpt::math::CMatrixDynamic<kftype> Y_pred_covs
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std::vector<size_t> predictions_IDs
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std::map<size_t, size_t> newly_inserted_landmarks
Map from the 0-based index within the last observation and the landmark 0-based index in the map (the robot-map state vector) Only used for stats and so.
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TDataAssociationResults results
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inline TDataAssocInfo()