struct mrpt::slam::TAuxDataRecursiveJCBB

Overview

struct TAuxDataRecursiveJCBB
{
    // fields

    size_t nPredictions;
    size_t nObservations;
    size_t length_O;
    std::map<size_t, size_t> currentAssociation;
    double chi2quantile = 0.99;
    const std::vector<bool>* angular_components = nullptr;
};

Fields

size_t nPredictions

Just to avoid recomputing them all the time.

double chi2quantile = 0.99

Quantile for the joint compatibility chi2 test.

const std::vector<bool>* angular_components = nullptr

Observation components which are angles (may be empty)