struct mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info

#include <mrpt/hmtslam/CHMTSLAM.h>

struct TBI_info
{
    //
fields

    double log_lik {0};
    mrpt::poses::CPose3DPDFSOG delta_new_cur {0};

    // construction

    TBI_info();
};

Fields

double log_lik {0}

Log likelihood for this loop-closure.

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.

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