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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1utils.html">utils</a>::<a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a>
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<h1>mrpt::utils::TMatchingPairList Class Reference</h1><!-- doxytag: class="mrpt::utils::TMatchingPairList" --><!-- doxytag: inherits="std::deque" -->
<p>A list of <a class="el" href="structmrpt_1_1utils_1_1_t_matching_pair.html" title="A structure for holding correspondences between two sets of points or points-like...">TMatchingPair</a>.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_t_matching_pair_8h_source.html">mrpt/utils/TMatchingPair.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::utils::TMatchingPairList:</div>
<div class="dynsection">
<div class="center"><img src="classmrpt_1_1utils_1_1_t_matching_pair_list__inherit__graph.png" border="0" usemap="#mrpt_1_1utils_1_1_t_matching_pair_list_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1utils_1_1_t_matching_pair_list_inherit__map" id="mrpt_1_1utils_1_1_t_matching_pair_list_inherit__map">
<area shape="rect" id="node2" title="STL class." alt="" coords="7,5,196,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for mrpt::utils::TMatchingPairList:</div>
<div class="dynsection">
<div class="center"><img src="classmrpt_1_1utils_1_1_t_matching_pair_list__coll__graph.png" border="0" usemap="#mrpt_1_1utils_1_1_t_matching_pair_list_coll__map" alt="Collaboration graph"/></div>
<map name="mrpt_1_1utils_1_1_t_matching_pair_list_coll__map" id="mrpt_1_1utils_1_1_t_matching_pair_list_coll__map">
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1utils_1_1_t_matching_pair_list-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#aa4b8536560b363d842c7673c0c50fd98">indexOtherMapHasCorrespondence</a> (unsigned int idx)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Checks if the given index from the "other" map appears in the list. <a href="#aa4b8536560b363d842c7673c0c50fd98"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#a0829429fb9bede865855ebd57fbbdaee">dumpToFile</a> (const std::string &fileName)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Saves the correspondences to a text file. <a href="#a0829429fb9bede865855ebd57fbbdaee"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#ac8db7b502ef0fab6d417617de0e770f0">saveAsMATLABScript</a> (const std::string &filName)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Saves the correspondences as a MATLAB script which draws them. <a href="#ac8db7b502ef0fab6d417617de0e770f0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#a891a3d674623d0e0c934bcc4804d4974">overallSquareError</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &q) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q" </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ \sum\limits_i e_i \]" src="form_99.png"/>
</p>
<p> Where <img class="formulaInl" alt="$ e_i $" src="form_100.png"/> are the elements of the square error vector as computed by computeSquareErrorVector. <a href="#a891a3d674623d0e0c934bcc4804d4974"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#a4b1912c2d828f27b1208210e853eeaac">overallSquareErrorAndPoints</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &q, <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> &xs, <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> &ys) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q", and return the transformed points as well. <a href="#a4b1912c2d828f27b1208210e853eeaac"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#aadb538605544eaea8a2740d9230818fb">squareErrorVector</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &q, <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> &out_sqErrs) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a vector with the square error between each pair of correspondences in the list, given the 2D transformation "q" Each element <img class="formulaInl" alt="$ e_i $" src="form_100.png"/> is the square distance between the "this" (global) point and the "other" (local) point transformed through "q": </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ e_i = | x_{this} - q \oplus x_{other} |^2 \]" src="form_101.png"/>
</p>
<p>. <a href="#aadb538605544eaea8a2740d9230818fb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#ad356eb49bc50d1b9142c41b9d23afc19">squareErrorVector</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &q, <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> &out_sqErrs, <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> &xs, <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> &ys) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a vector with the square error between each pair of correspondences in the list and the transformed "other" (local) points, given the 2D transformation "q" Each element <img class="formulaInl" alt="$ e_i $" src="form_100.png"/> is the square distance between the "this" (global) point and the "other" (local) point transformed through "q": </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ e_i = | x_{this} - q \oplus x_{other} |^2 \]" src="form_101.png"/>
</p>
<p>. <a href="#ad356eb49bc50d1b9142c41b9d23afc19"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#ac6dfa14bdd472557be4e5579be0d4762">contains</a> (const <a class="el" href="structmrpt_1_1utils_1_1_t_matching_pair.html">TMatchingPair</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Test whether the given pair "p" is within the pairings. <a href="#ac6dfa14bdd472557be4e5579be0d4762"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A list of <a class="el" href="structmrpt_1_1utils_1_1_t_matching_pair.html" title="A structure for holding correspondences between two sets of points or points-like...">TMatchingPair</a>. </p>
<p>Definition at line <a class="el" href="_t_matching_pair_8h_source.html#l00070">70</a> of file <a class="el" href="_t_matching_pair_8h_source.html">TMatchingPair.h</a>.</p>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ac6dfa14bdd472557be4e5579be0d4762"></a><!-- doxytag: member="mrpt::utils::TMatchingPairList::contains" ref="ac6dfa14bdd472557be4e5579be0d4762" args="(const TMatchingPair &p) const " -->
<div class="memitem">
<div class="memproto">
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<td class="memname">bool mrpt::utils::TMatchingPairList::contains </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1utils_1_1_t_matching_pair.html">TMatchingPair</a> & </td>
<td class="paramname"> <em>p</em></td>
<td> ) </td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Test whether the given pair "p" is within the pairings. </p>
</div>
</div>
<a class="anchor" id="a0829429fb9bede865855ebd57fbbdaee"></a><!-- doxytag: member="mrpt::utils::TMatchingPairList::dumpToFile" ref="a0829429fb9bede865855ebd57fbbdaee" args="(const std::string &fileName)" -->
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<td class="memname">void mrpt::utils::TMatchingPairList::dumpToFile </td>
<td>(</td>
<td class="paramtype">const std::string & </td>
<td class="paramname"> <em>fileName</em></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Saves the correspondences to a text file. </p>
</div>
</div>
<a class="anchor" id="aa4b8536560b363d842c7673c0c50fd98"></a><!-- doxytag: member="mrpt::utils::TMatchingPairList::indexOtherMapHasCorrespondence" ref="aa4b8536560b363d842c7673c0c50fd98" args="(unsigned int idx)" -->
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<td class="memname">bool mrpt::utils::TMatchingPairList::indexOtherMapHasCorrespondence </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"> <em>idx</em></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Checks if the given index from the "other" map appears in the list. </p>
</div>
</div>
<a class="anchor" id="a891a3d674623d0e0c934bcc4804d4974"></a><!-- doxytag: member="mrpt::utils::TMatchingPairList::overallSquareError" ref="a891a3d674623d0e0c934bcc4804d4974" args="(const CPose2D &q) const " -->
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<td class="memname">float mrpt::utils::TMatchingPairList::overallSquareError </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"> <em>q</em></td>
<td> ) </td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q" </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ \sum\limits_i e_i \]" src="form_99.png"/>
</p>
<p> Where <img class="formulaInl" alt="$ e_i $" src="form_100.png"/> are the elements of the square error vector as computed by computeSquareErrorVector. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#aadb538605544eaea8a2740d9230818fb" title="Returns a vector with the square error between each pair of correspondences in the...">squareErrorVector</a>, <a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#a4b1912c2d828f27b1208210e853eeaac" title="Computes the overall square error between the 2D points in the list of correspondences...">overallSquareErrorAndPoints</a> </dd></dl>
</div>
</div>
<a class="anchor" id="a4b1912c2d828f27b1208210e853eeaac"></a><!-- doxytag: member="mrpt::utils::TMatchingPairList::overallSquareErrorAndPoints" ref="a4b1912c2d828f27b1208210e853eeaac" args="(const CPose2D &q, vector_float &xs, vector_float &ys) const " -->
<div class="memitem">
<div class="memproto">
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<td class="memname">float mrpt::utils::TMatchingPairList::overallSquareErrorAndPoints </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"> <em>q</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> & </td>
<td class="paramname"> <em>xs</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> & </td>
<td class="paramname"> <em>ys</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q", and return the transformed points as well. </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ \sum\limits_i e_i \]" src="form_99.png"/>
</p>
<p> Where <img class="formulaInl" alt="$ e_i $" src="form_100.png"/> are the elements of the square error vector as computed by computeSquareErrorVector </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#aadb538605544eaea8a2740d9230818fb" title="Returns a vector with the square error between each pair of correspondences in the...">squareErrorVector</a> </dd></dl>
</div>
</div>
<a class="anchor" id="ac8db7b502ef0fab6d417617de0e770f0"></a><!-- doxytag: member="mrpt::utils::TMatchingPairList::saveAsMATLABScript" ref="ac8db7b502ef0fab6d417617de0e770f0" args="(const std::string &filName)" -->
<div class="memitem">
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<td class="memname">void mrpt::utils::TMatchingPairList::saveAsMATLABScript </td>
<td>(</td>
<td class="paramtype">const std::string & </td>
<td class="paramname"> <em>filName</em></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Saves the correspondences as a MATLAB script which draws them. </p>
</div>
</div>
<a class="anchor" id="ad356eb49bc50d1b9142c41b9d23afc19"></a><!-- doxytag: member="mrpt::utils::TMatchingPairList::squareErrorVector" ref="ad356eb49bc50d1b9142c41b9d23afc19" args="(const CPose2D &q, vector_float &out_sqErrs, vector_float &xs, vector_float &ys) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">void mrpt::utils::TMatchingPairList::squareErrorVector </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"> <em>q</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> & </td>
<td class="paramname"> <em>out_sqErrs</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> & </td>
<td class="paramname"> <em>xs</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> & </td>
<td class="paramname"> <em>ys</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns a vector with the square error between each pair of correspondences in the list and the transformed "other" (local) points, given the 2D transformation "q" Each element <img class="formulaInl" alt="$ e_i $" src="form_100.png"/> is the square distance between the "this" (global) point and the "other" (local) point transformed through "q": </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ e_i = | x_{this} - q \oplus x_{other} |^2 \]" src="form_101.png"/>
</p>
<p>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#a891a3d674623d0e0c934bcc4804d4974" title="Computes the overall square error between the 2D points in the list of correspondences...">overallSquareError</a> </dd></dl>
</div>
</div>
<a class="anchor" id="aadb538605544eaea8a2740d9230818fb"></a><!-- doxytag: member="mrpt::utils::TMatchingPairList::squareErrorVector" ref="aadb538605544eaea8a2740d9230818fb" args="(const CPose2D &q, vector_float &out_sqErrs) const " -->
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<td class="memname">void mrpt::utils::TMatchingPairList::squareErrorVector </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"> <em>q</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> & </td>
<td class="paramname"> <em>out_sqErrs</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns a vector with the square error between each pair of correspondences in the list, given the 2D transformation "q" Each element <img class="formulaInl" alt="$ e_i $" src="form_100.png"/> is the square distance between the "this" (global) point and the "other" (local) point transformed through "q": </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ e_i = | x_{this} - q \oplus x_{other} |^2 \]" src="form_101.png"/>
</p>
<p>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html#a891a3d674623d0e0c934bcc4804d4974" title="Computes the overall square error between the 2D points in the list of correspondences...">overallSquareError</a> </dd></dl>
</div>
</div>
</div>
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