struct mrpt::slam::CRangeBearingKFSLAM2D::TDataAssocInfo

Information for data-association:

See also:

getLastDataAssociation

#include <mrpt/slam/CRangeBearingKFSLAM2D.h>

struct TDataAssocInfo
{
    //
fields

    mrpt::math::CMatrixDynamic<kftype> Y_pred_means;
    mrpt::math::CMatrixDynamic<kftype> Y_pred_covs;
    std::vector<size_t> predictions_IDs;
    std::map<size_t, size_t> newly_inserted_landmarks;
    TDataAssociationResults results;

    // construction

    TDataAssocInfo();

    //
methods

    void clear();
};

Fields

std::map<size_t, size_t> newly_inserted_landmarks

Map from the 0-based index within the last observation and the landmark 0-based index in the map (the robot-map state vector) Only used for stats and so.