mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info Struct Reference

Detailed Description

Definition at line 136 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Public Member Functions
	TBI_info ()=default

Public Attributes
double	log_lik {0}
	Log likelihood for this loop-closure. More...
mrpt::poses::CPose3DPDFSOG	delta_new_cur {0}
	Depending on the loop-closure engine, an guess of the relative pose of "area_new" relative to "cur_area" is given here. More...

Constructor & Destructor Documentation

TBI_info()

mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::TBI_info ( )

default

Member Data Documentation

delta_new_cur

mrpt::poses::CPose3DPDFSOG mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::delta_new_cur {0}

Depending on the loop-closure engine, an guess of the relative pose of "area_new" relative to "cur_area" is given here.

If the SOG contains 0 modes, then the engine does not provide this information.

Definition at line 147 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::TBI_main_method().

log_lik

double mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::log_lik {0}

Log likelihood for this loop-closure.

Definition at line 140 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::TBI_main_method().