struct mrpt::graphslam::graphslam_traits::observation_info_t

Overview

Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the constraints being taking into account.

#include <mrpt/graphslam/types.h>

struct observation_info_t
{
    // typedefs

    typedef graphslam_traits<GRAPH_T> gst;

    // fields

    const gst::edge_map_entry_t* edge {nullptr};
    const gst::graph_t::constraint_t::type_value* edge_mean;
    gst::graph_t::constraint_t::type_value* P1;
    gst::graph_t::constraint_t::type_value* P2;
    gst::matrix_TxT information;
};

Fields

gst::matrix_TxT information

Information matrix of the local residual of this edge, converted from the edge PDF (unused for edges without uncertainty).