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data_association.h File Reference
#include <mrpt/utils/utils_defs.h>
#include <mrpt/poses/CPoint2DPDFGaussian.h>
#include <mrpt/poses/CPointPDFGaussian.h>
#include <mrpt/math/CMatrixTemplate.h>
#include <mrpt/utils/TEnumType.h>
#include <mrpt/slam/link_pragmas.h>
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Classes

struct  mrpt::slam::TDataAssociationResults
 The results from mrpt::slam::data_association. More...
 
struct  mrpt::utils::TEnumTypeFiller< slam::TDataAssociationMethod >
 
struct  mrpt::utils::TEnumTypeFiller< slam::TDataAssociationMetric >
 

Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::slam
 
 mrpt::utils
 Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
 

Data association

enum  mrpt::slam::TDataAssociationMethod { mrpt::slam::assocNN = 0, mrpt::slam::assocJCBB }
 Different algorithms for data association, used in mrpt::slam::data_association. More...
 
enum  mrpt::slam::TDataAssociationMetric { mrpt::slam::metricMaha = 0, mrpt::slam::metricML }
 Different metrics for data association, used in mrpt::slam::data_association For a comparison of both methods see paper: More...
 
typedef size_t mrpt::slam::observation_index_t
 Used in mrpt::slam::TDataAssociationResults. More...
 
typedef size_t mrpt::slam::prediction_index_t
 Used in mrpt::slam::TDataAssociationResults. More...
 
void SLAM_IMPEXP mrpt::slam::data_association_full_covariance (const mrpt::math::CMatrixDouble &Z_observations_mean, const mrpt::math::CMatrixDouble &Y_predictions_mean, const mrpt::math::CMatrixDouble &Y_predictions_cov, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const std::vector< prediction_index_t > &predictions_IDs=std::vector< prediction_index_t >(), const TDataAssociationMetric compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)
 Computes the data-association between the prediction of a set of landmarks and their observations, all of them with covariance matrices - Generic version with prediction full cross-covariances. More...
 
void SLAM_IMPEXP mrpt::slam::data_association_independent_predictions (const mrpt::math::CMatrixDouble &Z_observations_mean, const mrpt::math::CMatrixDouble &Y_predictions_mean, const mrpt::math::CMatrixDouble &Y_predictions_cov, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const std::vector< prediction_index_t > &predictions_IDs=std::vector< prediction_index_t >(), const TDataAssociationMetric compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)
 Computes the data-association between the prediction of a set of landmarks and their observations, all of them with covariance matrices - Generic version with NO prediction cross-covariances. More...
 



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