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...

Detailed Description

struct to represent correspondeces and their data

Definition at line 65 of file ekf_slam.h.

Member Data Documentation

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.

The documentation for this struct was generated from the following file: