MRPT  1.9.9
List of all members | Public Member Functions | Public Attributes
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().




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