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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1slam.html">slam</a>::<a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html">TDataAssociationResults</a>
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<h1>mrpt::slam::TDataAssociationResults Struct Reference</h1><!-- doxytag: class="mrpt::slam::TDataAssociationResults" -->
<p>The results from mrpt::slam::data_association.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="data__association_8h_source.html">mrpt/slam/data_association.h</a>></code></p>
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Collaboration diagram for mrpt::slam::TDataAssociationResults:</div>
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<area shape="rect" id="node2" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="mrpt::math::CMatrixTemplateNumeric\< double \>" alt="" coords="465,5,769,35"/><area shape="rect" id="node4" href="classmrpt_1_1math_1_1_c_matrix_template.html" title="mrpt::math::CMatrixTemplate\< double \>" alt="" coords="148,5,401,35"/><area shape="rect" id="node6" href="structmrpt_1_1mrpt__base__vector.html" title="mrpt::mrpt_base_vector\< uint32_t \>" alt="" coords="503,59,732,88"/><area shape="rect" id="node8" title="STL class." alt="" coords="197,59,352,88"/><area shape="rect" id="node14" href="classmrpt_1_1math_1_1_c_matrix_template.html" title="mrpt::math::CMatrixTemplate\< bool \>" alt="" coords="497,165,737,195"/></map>
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<p><a href="structmrpt_1_1slam_1_1_t_data_association_results-members.html">List of all members.</a></p>
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<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#ae6155e1d790b03ab2e2b2d3eedb9e00b">TDataAssociationResults</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#a425f501efbf046e7d2ba773c82ce7a44">clear</a> ()</td></tr>
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::map< <a class="el" href="namespacemrpt_1_1slam.html#a520476290900728ff7128ce1fba33ab5">observation_index_t</a>, <br class="typebreak"/>
<a class="el" href="namespacemrpt_1_1slam.html#a4869496c65ccee6078ffc64e8c855e8d">prediction_index_t</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#a47727dc3a6bc9f88974b08d34f1c783d">associations</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For each observation (with row index IDX_obs in the input "Z_observations"), its association in the predictions, as the row index in the "Y_predictions_mean" input (or it's mapping to a custom ID, if it was provided). <a href="#a47727dc3a6bc9f88974b08d34f1c783d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#a3f0cec95426056d1a536b22785078e9b">distance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The Joint Mahalanobis distance or matching likelihood of the best associations found. <a href="#a3f0cec95426056d1a536b22785078e9b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">mrpt::math::CMatrixDouble</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#a998a153a5ada602d484238e80c8b9530">indiv_distances</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Individual mahalanobis distances (or matching likelihood, depending on the selected metric) between predictions (row indices) & observations (column indices). <a href="#a998a153a5ada602d484238e80c8b9530"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template.html">mrpt::math::CMatrixBool</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#a4ba3250f7177d2624c1b0192ec226fea">indiv_compatibility</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The result of a chi2 test for compatibility using mahalanobis distance - Indices are like in "indiv_distances". <a href="#a4ba3250f7177d2624c1b0192ec226fea"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_uint</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#a6aa1c8c14c99f323e7d3c2932a58045e">indiv_compatibility_counts</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The sum of each column of indiv_compatibility, that is, the number of compatible pairings for each observation. <a href="#a6aa1c8c14c99f323e7d3c2932a58045e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#a9bc2b4d6b59e3a697f964cfe0fe5f5aa">nNodesExploredInJCBB</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Only for the JCBB method,the number of recursive calls expent in the algorithm. <a href="#a9bc2b4d6b59e3a697f964cfe0fe5f5aa"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>The results from mrpt::slam::data_association. </p>
<p>Definition at line <a class="el" href="data__association_8h_source.html#l00066">66</a> of file <a class="el" href="data__association_8h_source.html">data_association.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ae6155e1d790b03ab2e2b2d3eedb9e00b"></a><!-- doxytag: member="mrpt::slam::TDataAssociationResults::TDataAssociationResults" ref="ae6155e1d790b03ab2e2b2d3eedb9e00b" args="()" -->
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<td class="memname">mrpt::slam::TDataAssociationResults::TDataAssociationResults </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="data__association_8h_source.html#l00068">68</a> of file <a class="el" href="data__association_8h_source.html">data_association.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
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<td class="memname">void mrpt::slam::TDataAssociationResults::clear </td>
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<p>Definition at line <a class="el" href="data__association_8h_source.html#l00077">77</a> of file <a class="el" href="data__association_8h_source.html">data_association.h</a>.</p>
<p>References <a class="el" href="namespacemrpt_1_1math.html#a8c0a76e906f12560cfa49fcd269c8398">mrpt::math::distance()</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a47727dc3a6bc9f88974b08d34f1c783d"></a><!-- doxytag: member="mrpt::slam::TDataAssociationResults::associations" ref="a47727dc3a6bc9f88974b08d34f1c783d" args="" -->
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<td class="memname">std::map<<a class="el" href="namespacemrpt_1_1slam.html#a520476290900728ff7128ce1fba33ab5">observation_index_t</a>,<a class="el" href="namespacemrpt_1_1slam.html#a4869496c65ccee6078ffc64e8c855e8d">prediction_index_t</a>> <a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#a47727dc3a6bc9f88974b08d34f1c783d">mrpt::slam::TDataAssociationResults::associations</a></td>
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<p>For each observation (with row index IDX_obs in the input "Z_observations"), its association in the predictions, as the row index in the "Y_predictions_mean" input (or it's mapping to a custom ID, if it was provided). </p>
<p>Note that not all observations may have an associated prediction. An observation with index "IDX_obs" corresponds to the prediction number "associations[IDX_obs]", or it may not correspond to anyone if it's not present in the std::map (Tip: Use associations.find(IDX_obs)!=associations.end() ) </p>
<dl class="note"><dt><b>Note:</b></dt><dd>The types observation_index_t and prediction_index_t are just used for clarity, use normal size_t's. </dd></dl>
<p>Definition at line <a class="el" href="data__association_8h_source.html#l00093">93</a> of file <a class="el" href="data__association_8h_source.html">data_association.h</a>.</p>
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<p>The Joint Mahalanobis distance or matching likelihood of the best associations found. </p>
<p>Definition at line <a class="el" href="data__association_8h_source.html#l00094">94</a> of file <a class="el" href="data__association_8h_source.html">data_association.h</a>.</p>
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<a class="anchor" id="a4ba3250f7177d2624c1b0192ec226fea"></a><!-- doxytag: member="mrpt::slam::TDataAssociationResults::indiv_compatibility" ref="a4ba3250f7177d2624c1b0192ec226fea" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template.html">mrpt::math::CMatrixBool</a> <a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#a4ba3250f7177d2624c1b0192ec226fea">mrpt::slam::TDataAssociationResults::indiv_compatibility</a></td>
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<p>The result of a chi2 test for compatibility using mahalanobis distance - Indices are like in "indiv_distances". </p>
<p>Definition at line <a class="el" href="data__association_8h_source.html#l00100">100</a> of file <a class="el" href="data__association_8h_source.html">data_association.h</a>.</p>
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<a class="anchor" id="a6aa1c8c14c99f323e7d3c2932a58045e"></a><!-- doxytag: member="mrpt::slam::TDataAssociationResults::indiv_compatibility_counts" ref="a6aa1c8c14c99f323e7d3c2932a58045e" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_uint</a> <a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#a6aa1c8c14c99f323e7d3c2932a58045e">mrpt::slam::TDataAssociationResults::indiv_compatibility_counts</a></td>
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<p>The sum of each column of indiv_compatibility, that is, the number of compatible pairings for each observation. </p>
<p>Definition at line <a class="el" href="data__association_8h_source.html#l00101">101</a> of file <a class="el" href="data__association_8h_source.html">data_association.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">mrpt::math::CMatrixDouble</a> <a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#a998a153a5ada602d484238e80c8b9530">mrpt::slam::TDataAssociationResults::indiv_distances</a></td>
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<p>Individual mahalanobis distances (or matching likelihood, depending on the selected metric) between predictions (row indices) & observations (column indices). </p>
<p>Indices are for the appearing order in the arguments "Y_predictions_mean" & "Z_observations", they are NOT landmark IDs. </p>
<p>Definition at line <a class="el" href="data__association_8h_source.html#l00099">99</a> of file <a class="el" href="data__association_8h_source.html">data_association.h</a>.</p>
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<td class="memname">size_t <a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html#a9bc2b4d6b59e3a697f964cfe0fe5f5aa">mrpt::slam::TDataAssociationResults::nNodesExploredInJCBB</a></td>
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<p>Only for the JCBB method,the number of recursive calls expent in the algorithm. </p>
<p>Definition at line <a class="el" href="data__association_8h_source.html#l00103">103</a> of file <a class="el" href="data__association_8h_source.html">data_association.h</a>.</p>
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