Public Attributes | |
cv::Matx< double, 3, 3 > | dm |
x deviation in H_ij = (dx 0 .. 0 dm 0 .. 0) More... | |
cv::Matx< double, 3, 3 > | dx |
difference of obtained and predicted measurement More... | |
std::pair< size_t, size_t > | ij |
cv::Matx< double, 3, 3 > | Q |
i >= 0, j > 0...landmark j corressponds to measurement i (else no correspondence) More... | |
cv::Matx< double, 3, 3 > | S_inv |
m deviation in H_ij = (dx 0 .. 0 dm 0 .. 0) More... | |
cv::Vec< double, 3 > | v |
measurement noise More... | |
struct to represent correspondeces and their data
Definition at line 65 of file ekf_slam.h.
cv::Matx<double, 3, 3> tuw::EKFSLAM::CorrData::dm |
x deviation in H_ij = (dx 0 .. 0 dm 0 .. 0)
Definition at line 70 of file ekf_slam.h.
cv::Matx<double, 3, 3> tuw::EKFSLAM::CorrData::dx |
difference of obtained and predicted measurement
Definition at line 69 of file ekf_slam.h.
std::pair<size_t, size_t> tuw::EKFSLAM::CorrData::ij |
Definition at line 66 of file ekf_slam.h.
cv::Matx<double, 3, 3> tuw::EKFSLAM::CorrData::Q |
i >= 0, j > 0...landmark j corressponds to measurement i (else no correspondence)
Definition at line 67 of file ekf_slam.h.
cv::Matx<double, 3, 3> tuw::EKFSLAM::CorrData::S_inv |
m deviation in H_ij = (dx 0 .. 0 dm 0 .. 0)
Definition at line 71 of file ekf_slam.h.
cv::Vec<double, 3> tuw::EKFSLAM::CorrData::v |
measurement noise
Definition at line 68 of file ekf_slam.h.