mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info Struct Reference

Detailed Description

Definition at line 155 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.
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.

Constructor & Destructor Documentation

mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::TBI_info ( )

inline

Definition at line 157 of file CHMTSLAM.h.

Member Data Documentation

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 165 of file CHMTSLAM.h.

double mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::log_lik

Log likelihood for this loop-closure.

Definition at line 160 of file CHMTSLAM.h.