Definition at line 137 of file CHMTSLAM.h.
#include <mrpt/hmtslam/CHMTSLAM.h>
Public Member Functions | |
TBI_info () | |
Public Attributes | |
double | log_lik |
Log likelihood for this loop-closure. More... | |
mrpt::poses::CPose3DPDFSOG | delta_new_cur |
Depending on the loop-closure engine, an guess of the relative pose of "area_new" relative to "cur_area" is given here. More... | |
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inline |
Definition at line 139 of file CHMTSLAM.h.
mrpt::poses::CPose3DPDFSOG mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::delta_new_cur |
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 148 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CHMTSLAM::TBI_main_method().
double mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::log_lik |
Log likelihood for this loop-closure.
Definition at line 141 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CHMTSLAM::TBI_main_method().
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