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data_association.cpp File Reference
#include "slam-precomp.h"
#include <mrpt/slam/data_association.h>
#include <mrpt/math/distributions.h>
#include <mrpt/math/data_utils.h>
#include <mrpt/poses/CPointPDFGaussian.h>
#include <mrpt/poses/CPoint2DPDFGaussian.h>
#include <set>
#include <numeric>
#include <memory>
#include <mrpt/otherlibs/nanoflann/nanoflann.hpp>
#include <mrpt/math/KDTreeCapable.h>
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Classes

struct  mrpt::slam::TAuxDataRecursiveJCBB
 

Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::slam
 

Functions

template<typename T , TDataAssociationMetric METRIC>
double mrpt::slam::joint_pdf_metric (const CMatrixTemplateNumeric< T > &Z_observations_mean, const CMatrixTemplateNumeric< T > &Y_predictions_mean, const CMatrixTemplateNumeric< T > &Y_predictions_cov, const TAuxDataRecursiveJCBB &info, const TDataAssociationResults &aux_data)
 Computes the joint distance metric (mahalanobis or matching likelihood) between two a set of associations. More...
 
template<TDataAssociationMetric METRIC>
bool mrpt::slam::isCloser (const double v1, const double v2)
 
template<>
bool mrpt::slam::isCloser< metricMaha > (const double v1, const double v2)
 
template<>
bool mrpt::slam::isCloser< metricML > (const double v1, const double v2)
 
template<typename T , TDataAssociationMetric METRIC>
void mrpt::slam::JCBB_recursive (const mrpt::math::CMatrixTemplateNumeric< T > &Z_observations_mean, const mrpt::math::CMatrixTemplateNumeric< T > &Y_predictions_mean, const mrpt::math::CMatrixTemplateNumeric< T > &Y_predictions_cov, TDataAssociationResults &results, const TAuxDataRecursiveJCBB &info, const observation_index_t curObsIdx)
 



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