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

TDataAssociationResults()

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

inline

Definition at line 57 of file data_association.h.

Member Function Documentation

clear()

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

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().

Member Data Documentation

associations

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().

distance

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().

indiv_compatibility

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().

indiv_compatibility_counts

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().

indiv_distances

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().

nNodesExploredInJCBB

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().