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


Detailed Description

Definition at line 160 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

List of all members.

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 162 of file CHMTSLAM.h.


Member Data Documentation

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 170 of file CHMTSLAM.h.

Log likelihood for this loop-closure.

Definition at line 165 of file CHMTSLAM.h.




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