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mrpt::slam::TDataAssociationResults Struct Reference

Detailed Description

The results from mrpt::slam::data_association.

Definition at line 55 of file data_association.h.

#include <mrpt/slam/data_association.h>

Public Member Functions

 TDataAssociationResults ()
 
void clear ()
 

Public Attributes

std::map< observation_index_t,
prediction_index_t
associations
 For each observation (with row index IDX_obs in the input "Z_observations"), its association in the predictions, as the row index in the "Y_predictions_mean" input (or it's mapping to a custom ID, if it was provided). More...
 
double distance
 The Joint Mahalanobis distance or matching likelihood of the best associations found. More...
 
mrpt::math::CMatrixDouble indiv_distances
 Individual mahalanobis distances (or matching likelihood, depending on the selected metric) between predictions (row indices) & observations (column indices). More...
 
mrpt::math::CMatrixBool indiv_compatibility
 The result of a chi2 test for compatibility using mahalanobis distance - Indices are like in "indiv_distances". More...
 
vector_uint indiv_compatibility_counts
 The sum of each column of indiv_compatibility, that is, the number of compatible pairings for each observation. More...
 
size_t nNodesExploredInJCBB
 Only for the JCBB method,the number of recursive calls expent in the algorithm. More...
 

Constructor & Destructor Documentation

mrpt::slam::TDataAssociationResults::TDataAssociationResults ( )
inline

Definition at line 57 of file data_association.h.

Member Function Documentation

void mrpt::slam::TDataAssociationResults::clear ( )
inline

Member Data Documentation

std::map<observation_index_t,prediction_index_t> mrpt::slam::TDataAssociationResults::associations

For each observation (with row index IDX_obs in the input "Z_observations"), its association in the predictions, as the row index in the "Y_predictions_mean" input (or it's mapping to a custom ID, if it was provided).

Note that not all observations may have an associated prediction. An observation with index "IDX_obs" corresponds to the prediction number "associations[IDX_obs]", or it may not correspond to anyone if it's not present in the std::map (Tip: Use associations.find(IDX_obs)!=associations.end() )

Note
The types observation_index_t and prediction_index_t are just used for clarity, use normal size_t's.

Definition at line 82 of file data_association.h.

Referenced by mrpt::slam::data_association_full_covariance(), mrpt::slam::JCBB_recursive(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation(), and TEST().

double mrpt::slam::TDataAssociationResults::distance

The Joint Mahalanobis distance or matching likelihood of the best associations found.

Definition at line 83 of file data_association.h.

Referenced by mrpt::slam::data_association_full_covariance(), and mrpt::slam::JCBB_recursive().

mrpt::math::CMatrixBool mrpt::slam::TDataAssociationResults::indiv_compatibility

The result of a chi2 test for compatibility using mahalanobis distance - Indices are like in "indiv_distances".

Definition at line 89 of file data_association.h.

Referenced by mrpt::slam::data_association_full_covariance(), and mrpt::slam::JCBB_recursive().

vector_uint mrpt::slam::TDataAssociationResults::indiv_compatibility_counts

The sum of each column of indiv_compatibility, that is, the number of compatible pairings for each observation.

Definition at line 90 of file data_association.h.

Referenced by mrpt::slam::data_association_full_covariance(), and mrpt::slam::JCBB_recursive().

mrpt::math::CMatrixDouble mrpt::slam::TDataAssociationResults::indiv_distances

Individual mahalanobis distances (or matching likelihood, depending on the selected metric) between predictions (row indices) & observations (column indices).

Indices are for the appearing order in the arguments "Y_predictions_mean" & "Z_observations", they are NOT landmark IDs.

Definition at line 88 of file data_association.h.

Referenced by mrpt::slam::data_association_full_covariance().

size_t mrpt::slam::TDataAssociationResults::nNodesExploredInJCBB

Only for the JCBB method,the number of recursive calls expent in the algorithm.

Definition at line 92 of file data_association.h.

Referenced by mrpt::slam::JCBB_recursive().




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