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...  

inline 
Definition at line 57 of file data_association.h.

inline 
Definition at line 66 of file data_association.h.
References mrpt::math::distance().
Referenced by mrpt::slam::data_association_full_covariance(), and mrpt::slam::data_association_independent_predictions().
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() )
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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