Struct CRangeBearingKFSLAM::TDataAssocInfo
Defined in File CRangeBearingKFSLAM.h
Nested Relationships
This struct is a nested type of Class CRangeBearingKFSLAM.
Struct Documentation
-
struct TDataAssocInfo
Information for data-association:
See also
Public Functions
-
inline TDataAssocInfo()
-
inline void clear()
Public Members
-
mrpt::math::CMatrixDynamic<kftype> Y_pred_means
-
mrpt::math::CMatrixDynamic<kftype> Y_pred_covs
-
std::vector<size_t> predictions_IDs
-
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.
-
TDataAssociationResults results
-
inline TDataAssocInfo()