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<div class="title">mrpt::slam Namespace Reference<div class="ingroups"><a class="el" href="group__mrpt__maps__grp.html">[mrpt-maps]</a> | <a class="el" href="group__mrpt__obs__grp.html">[mrpt-obs]</a> | <a class="el" href="group__mrpt__slam__grp.html">[mrpt-slam]</a> | <a class="el" href="group__mrpt__vision__grp.html">[mrpt-vision]</a></div></div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps. </p>
</div><table class="memberdecls">
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Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam_1_1detail.html">detail</a></td></tr>
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_beacon_ptr.html">CBeaconPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html">CBeacon</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. <a href="classmrpt_1_1slam_1_1_c_beacon.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_ptr.html">CBeaconMapPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html">CBeaconMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM). <a href="classmrpt_1_1slam_1_1_c_beacon_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_coloured_points_map_ptr.html">CColouredPointsMapPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html">CColouredPointsMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A map of 2D/3D points with individual colours (RGB). <a href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_ptr.html">CGasConcentrationGridMap2DPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html">CGasConcentrationGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html" title="CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area.">CGasConcentrationGridMap2D</a> represents a PDF of gas concentrations over a 2D area. <a href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_height_grid_map2_d_ptr.html">CHeightGridMap2DPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_height_gridmap_cell.html">THeightGridmapCell</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The contents of each cell in a <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html" title="A mesh representation of a surface which keeps the estimated height for each (x,y) location...">CHeightGridMap2D</a> map. <a href="structmrpt_1_1slam_1_1_t_height_gridmap_cell.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html">CHeightGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A mesh representation of a surface which keeps the estimated height for each (x,y) location. <a href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map2_d.html">CLogOddsGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A generic provider of log-odds grid-map maintainance functions. <a href="structmrpt_1_1slam_1_1_c_log_odds_grid_map2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html">CLogOddsGridMapLUT</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">One static instance of this struct should exist in any class implementing <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map2_d.html" title="A generic provider of log-odds grid-map maintainance functions.">CLogOddsGridMap2D</a> to hold the Look-up-tables (LUTs) for log-odss Bayesian update. <a href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_ptr.html">COccupancyGridMap2DPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">COccupancyGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for storing an occupancy grid map. <a href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_ptr.html">CPointsMapPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html">CPointsMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. <a href="classmrpt_1_1slam_1_1_c_points_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_random_field_grid_map2_d_ptr.html">CRandomFieldGridMap2DPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_random_field_cell.html">TRandomFieldCell</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The contents of each cell in a <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html" title="CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...">CRandomFieldGridMap2D</a> map. <a href="structmrpt_1_1slam_1_1_t_random_field_cell.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html">CRandomFieldGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html" title="CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...">CRandomFieldGridMap2D</a> represents a 2D grid map where each cell is associated one real-valued property which is estimated by this map, either as a simple value or as a probility distribution (for each cell). <a href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d_ptr.html">CReflectivityGridMap2DPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html">CReflectivityGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor). <a href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_simple_points_map_ptr.html">CSimplePointsMapPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html">CSimplePointsMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. <a href="classmrpt_1_1slam_1_1_c_simple_points_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_weighted_points_map_ptr.html">CWeightedPointsMapPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_weighted_points_map.html">CWeightedPointsMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. <a href="classmrpt_1_1slam_1_1_c_weighted_points_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d_ptr.html">CWirelessPowerGridMap2DPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html">CWirelessPowerGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html" title="CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.">CWirelessPowerGridMap2D</a> represents a PDF of wifi concentrations over a 2D area. <a href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_action_ptr.html">CActionPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action.html">CAction</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class for storing a robot action. <a href="classmrpt_1_1slam_1_1_c_action.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_action_collection_ptr.html">CActionCollectionPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">CActionCollection</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class for storing a collection of robot actions. <a href="classmrpt_1_1slam_1_1_c_action_collection.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_ptr.html">CActionRobotMovement2DPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html">CActionRobotMovement2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Represents a probabilistic 2D movement of the robot mobile base. <a href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement3_d_ptr.html">CActionRobotMovement3DPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html">CActionRobotMovement3D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Represents a probabilistic 3D (6D) movement. <a href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_ptr.html">CMetricMapPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a virtual base class for all metric maps storage classes. <a href="classmrpt_1_1slam_1_1_c_metric_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1mrpt_event_metric_map_clear.html">mrptEventMetricMapClear</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event emitted by a metric up upon call of clear() <a href="classmrpt_1_1slam_1_1mrpt_event_metric_map_clear.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1mrpt_event_metric_map_insert.html">mrptEventMetricMapInsert</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event emitted by a metric up upon a succesful call to insertObservation() <a href="classmrpt_1_1slam_1_1mrpt_event_metric_map_insert.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html">CObservation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class that represents any robot's observation. <a href="classmrpt_1_1slam_1_1_c_observation.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t2_d_scan_properties.html">T2DScanProperties</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary struct that holds all the relevant *geometry* information about a 2D scan. <a href="structmrpt_1_1slam_1_1_t2_d_scan_properties.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation2_d_range_scan_ptr.html">CObservation2DRangeScanPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">CObservation2DRangeScan</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner). <a href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation3_d_range_scan_ptr.html">CObservation3DRangeScanPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html">CObservation3DRangeScan</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e.g. <a href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_battery_state_ptr.html">CObservationBatteryStatePtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html">CObservationBatteryState</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This represents a measurement of the batteries on the robot. <a href="classmrpt_1_1slam_1_1_c_observation_battery_state.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_beacon_ranges_ptr.html">CObservationBeaconRangesPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html">CObservationBeaconRanges</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. <a href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_ptr.html">CObservationBearingRangePtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html">CObservationBearingRange</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. <a href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_comment_ptr.html">CObservationCommentPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_comment.html">CObservationComment</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file. <a href="classmrpt_1_1slam_1_1_c_observation_comment.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_ptr.html">CObservationGasSensorsPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html">CObservationGasSensors</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that represents a set of readings from gas sensors. <a href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_ptr.html">CObservationGPSPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html">CObservationGPS</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading. <a href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_image_ptr.html">CObservationImagePtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_image.html">CObservationImage</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. <a href="classmrpt_1_1slam_1_1_c_observation_image.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_i_m_u_ptr.html">CObservationIMUPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html">CObservationIMU</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimation (integration of raw measurements). <a href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_odometry_ptr.html">CObservationOdometryPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_odometry.html">CObservationOdometry</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An observation of the current (cumulative) odometry for a wheeled robot. <a href="classmrpt_1_1slam_1_1_c_observation_odometry.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_range_ptr.html">CObservationRangePtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_range.html">CObservationRange</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. <a href="classmrpt_1_1slam_1_1_c_observation_range.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_reflectivity_ptr.html">CObservationReflectivityPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_reflectivity.html">CObservationReflectivity</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement. <a href="classmrpt_1_1slam_1_1_c_observation_reflectivity.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_stereo_images_ptr.html">CObservationStereoImagesPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html">CObservationStereoImages</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Observation class for either a pair of left+right or left+disparity images from a stereo camera. <a href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_stereo_image_features.html">TStereoImageFeatures</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_stereo_images_features_ptr.html">CObservationStereoImagesFeaturesPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images_features.html">CObservationStereoImagesFeatures</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched image features extracted from them. <a href="classmrpt_1_1slam_1_1_c_observation_stereo_images_features.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_wireless_power_ptr.html">CObservationWirelessPowerPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_wireless_power.html">CObservationWirelessPower</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This represents a measurement of the wireless strength perceived by the robot. <a href="classmrpt_1_1slam_1_1_c_observation_wireless_power.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_rawlog_ptr.html">CRawlogPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html">CRawlog</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This class stores a rawlog (robotic datasets) in one of two possible formats: <a href="classmrpt_1_1slam_1_1_c_rawlog.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximately at the same time as one "snapshot" of the environment. <a href="classmrpt_1_1slam_1_1_c_sensory_frame.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_simple_map_ptr.html">CSimpleMapPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. <a href="classmrpt_1_1slam_1_1_c_simple_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans.html">CSinCosLookUpTableFor2DScans</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A smart look-up-table (LUT) of sin/cos values for 2D laser scans. <a href="classmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html">CConsistentObservationAlignment</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An algorithm for globally, consistent alignment of a sequence of observations. <a href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html">CDetectorDoorCrossing</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html">CGridMapAligner</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for aligning two multi-metric maps (with an occupancy grid maps and a points map, at least) based on features extraction and matching. <a href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p.html">CICP</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a point map wrt a grid map. <a href="classmrpt_1_1slam_1_1_c_i_c_p.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_ptr.html">CIncrementalMapPartitionerPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html">CIncrementalMapPartitioner</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This class can be used to make partitions on a map/graph build from observations taken at some poses/nodes. <a href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html">CMetricMapBuilder</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This virtual class is the base for SLAM implementations. <a href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html">CMetricMapBuilderICP</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for very simple 2D SLAM based on ICP. <a href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html">CMetricMapBuilderRBPF</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM). <a href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_maps_alignment_algorithm.html">CMetricMapsAlignmentAlgorithm</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A base class for any algorithm able of maps alignment. <a href="classmrpt_1_1slam_1_1_c_metric_maps_alignment_algorithm.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html">CMonteCarloLocalization2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples. <a href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization3_d.html">CMonteCarloLocalization3D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class that represents a Probability Density Function (PDF) over a 3D pose (x,y,phi,yaw,pitch,roll), using a set of weighted samples. <a href="classmrpt_1_1slam_1_1_c_monte_carlo_localization3_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_ptr.html">CMultiMetricMapPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This class stores any customizable set of metric maps. <a href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_metric_map_initializer.html">TMetricMapInitializer</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Each structure of this kind will determine the kind (and initial configuration) of one map to be build into a <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html" title="This class stores any customizable set of metric maps.">CMultiMetricMap</a> object. <a href="structmrpt_1_1slam_1_1_t_metric_map_initializer.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_t_set_of_metric_map_initializers.html">TSetOfMetricMapInitializers</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A set of <a class="el" href="structmrpt_1_1slam_1_1_t_metric_map_initializer.html" title="Each structure of this kind will determine the kind (and initial configuration) of one map to be buil...">TMetricMapInitializer</a> structures, passed to the constructor <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#a739659c0385be2fbcbf695431f4da92f" title="Constructor.">CMultiMetricMap::CMultiMetricMap</a> See the comments for <a class="el" href="classmrpt_1_1slam_1_1_t_set_of_metric_map_initializers.html#a48e5c339561ec695921aa7db6291c0e1" title="Loads the configuration for the set of internal maps from a textual definition in an INI-like file...">TSetOfMetricMapInitializers::loadFromConfigFile</a>, and "CMultiMetricMap::setListOfMaps" for effectively creating the list of desired maps. <a href="classmrpt_1_1slam_1_1_t_set_of_metric_map_initializers.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_r_b_p_f_particle_data_ptr.html">CRBPFParticleDataPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html">CRBPFParticleData</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary class used in <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html" title="Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (T...">mrpt::slam::CMultiMetricMapPDF</a>. <a href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_ptr.html">CMultiMetricMapPDFPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html">CMultiMetricMapPDF</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (This class is the base of RBPF-SLAM applications). <a href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html">COccupancyGridMapFeatureExtractor</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for detecting features from occupancy grid maps. <a href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_circular_robot.html">CPathPlanningCircularRobot</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An implementation of <a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_method.html" title="A virtual base class for computing the optimal path for a robot from a origin location to a target po...">CPathPlanningMethod</a>. <a href="classmrpt_1_1slam_1_1_c_path_planning_circular_robot.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_method.html">CPathPlanningMethod</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A virtual base class for computing the optimal path for a robot from a origin location to a target point. <a href="classmrpt_1_1slam_1_1_c_path_planning_method.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m.html">CRangeBearingKFSLAM</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks. <a href="classmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d.html">CRangeBearingKFSLAM2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot pose, and 2D landmarks. <a href="classmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html">CRejectionSamplingRangeOnlyLocalization</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An implementation of rejection sampling for generating 2D robot pose from range-only measurements within a landmarks (beacons) map. <a href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html">TDataAssociationResults</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The results from mrpt::slam::data_association. <a href="structmrpt_1_1slam_1_1_t_data_association_results.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_p_f__implementation.html">PF_implementation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A set of common data shared by PF implementations for both SLAM and localization. <a href="classmrpt_1_1slam_1_1_p_f__implementation.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_t_k_l_d_params.html">TKLDParams</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Option set for KLD algorithm. <a href="classmrpt_1_1slam_1_1_t_k_l_d_params.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_monte_carlo_localization_params.html">TMonteCarloLocalizationParams</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The struct for passing extra simulation parameters to the prediction stage when running a particle filter. <a href="structmrpt_1_1slam_1_1_t_monte_carlo_localization_params.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmark_ptr.html">CLandmarkPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html">CLandmark</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The class for storing "landmarks" (visual or laser-scan-extracted features,...) <a href="classmrpt_1_1slam_1_1_c_landmark.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_ptr.html">CLandmarksMapPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for storing a map of 3D probabilistic landmarks. <a href="classmrpt_1_1slam_1_1_c_landmarks_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_visual_landmarks_ptr.html">CObservationVisualLandmarksPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html">CObservationVisualLandmarks</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera at a given instant of time. <a href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1slam_1_1_t_random_field_cell.html">TRandomFieldCell</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#adb96c67ccb95922aad7cdf6c3b68ffa9">TGasConcentrationCell</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Defined for backward compatibility only (mrpt <0.9.5) <a href="#adb96c67ccb95922aad7cdf6c3b68ffa9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1deque.html">std::deque</a>< <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a4a08ae2dfc5960f445532895b5012dbf">TMetricMapList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of metric maps (used in the <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html" title="Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x...">mrpt::poses::CPosePDFParticles</a> class): <a href="#a4a08ae2dfc5960f445532895b5012dbf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::pair<br class="typebreak"/>
< <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a>, <br class="typebreak"/>
<a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a85570fb9b901d02399bf21dc48706cdd">TTimeObservationPair</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For usage with <a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html" title="This class stores a rawlog (robotic datasets) in one of two possible formats:">CRawlog</a> classes. <a href="#a85570fb9b901d02399bf21dc48706cdd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1multimap.html">std::multimap</a><br class="typebreak"/>
< <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a>, <br class="typebreak"/>
<a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a361f9c7627d8e3c9f4efebb36db4472d">TListTimeAndObservations</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For usage with <a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html" title="This class stores a rawlog (robotic datasets) in one of two possible formats:">CRawlog</a> classes. <a href="#a361f9c7627d8e3c9f4efebb36db4472d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html">CLandmark</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a932bc93200d4cc0b9884d3d1845d94f2">TSequenceLandmarks</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Internal use. <a href="#a932bc93200d4cc0b9884d3d1845d94f2"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__obs__grp.html#ga4f7d710325d4bb5b80b3d3d3df1fdfb2">TIMUDataIndex</a> { <br/>
  <a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a9c77effd87245f3228f63210e5c525d5">IMU_X_ACC</a> = 0,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a751fbd3ceaa099e88d5bc31c45543453">IMU_Y_ACC</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab9abe7e5055b4305a9088bbc0b8a669a">IMU_Z_ACC</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2afd2b088e5e8532e61db0414762242a80">IMU_YAW_VEL</a>,
<br/>
  <a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2aa75f0ad60863eab953ee94346a6e02d7">IMU_PITCH_VEL</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ad2958b005e46433d8483b594ae3f6294">IMU_ROLL_VEL</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab66fa3ba191da1b197112672165ff275">IMU_X_VEL</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2af7b51469c81d7a48e60ce490be25ba1e">IMU_Y_VEL</a>,
<br/>
  <a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab0cdf5a6d20f2994ab49f4f4e42157a9">IMU_Z_VEL</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2abb184b9c8d7c35f7532cd60ed8e54b56">IMU_YAW</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ad4c40a7d0f1ff81b2a03597a508e4fd9">IMU_PITCH</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2aea7528b5a166cd8b6e973cf3465d6165">IMU_ROLL</a>,
<br/>
  <a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2aec1bb21f46bb0a1b08757a9880d65bae">IMU_X</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a913b6368bbed975c50c0ab70f62f3613">IMU_Y</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a9a4f502178514c22f7cf2213f6d817c0">IMU_Z</a>
<br/>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Symbolic names for the indices of IMU data (refer to <a class="el" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html" title="This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimatio...">mrpt::slam::CObservationIMU</a>) <a href="group__mrpt__obs__grp.html#ga4f7d710325d4bb5b80b3d3d3df1fdfb2">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__slam__grp.html#gaa571f1b2df97883ce80558fc43dc4844">TICPAlgorithm</a> { <a class="el" href="group__mrpt__slam__grp.html#ggaa571f1b2df97883ce80558fc43dc4844ade94fc09573025addb1a0b3648f7e70f">icpClassic</a> = 0,
<a class="el" href="group__mrpt__slam__grp.html#ggaa571f1b2df97883ce80558fc43dc4844ab8b007ff9821e42341b90763116c7f8d">icpLevenbergMarquardt</a>,
<a class="el" href="group__mrpt__slam__grp.html#ggaa571f1b2df97883ce80558fc43dc4844a7f98a570e19735f2bf55ed12504b5ca4">icpIKF</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The ICP algorithm selection, used in <a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p.html#ac5276790c90522d2c506a0265305bcef" title="The options employed by the ICP align.">mrpt::slam::CICP::options</a>. <a href="group__mrpt__slam__grp.html#gaa571f1b2df97883ce80558fc43dc4844">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a41c00899954a1827d61c6b3418a498ac">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_ptr.html">CBeaconPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#aaf514dbdb981e357d213ab19911db434">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_ptr.html">CBeaconMapPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#af3e424b47bcd9c1b54f9adbc84b0d03c">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_coloured_points_map_ptr.html">CColouredPointsMapPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a01a1508ef9c1d957a0c88565ddeab12e">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_ptr.html">CGasConcentrationGridMap2DPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a9c90a7886387af32f63df406f69d4613">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_height_grid_map2_d_ptr.html">CHeightGridMap2DPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#afeefd2b3bb4463d164956befe7e128fa">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_ptr.html">COccupancyGridMap2DPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a74b2946c38c77689d5ad4c41ebda2715">operator<</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a5d65008293a7029cf0f615ca9d187787">COccupancyGridMap2D::TPairLikelihoodIndex</a> &e1, const <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a5d65008293a7029cf0f615ca9d187787">COccupancyGridMap2D::TPairLikelihoodIndex</a> &e2)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#ad06e5716c5f994350e136c2a5ca1f0e1">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_points_map_ptr.html">CPointsMapPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a4d2eebf9eeb463f58c3e78b7b5d4d5c1">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_random_field_grid_map2_d_ptr.html">CRandomFieldGridMap2DPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a04dbce843a9d8f428db6f087ac8b5972">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d_ptr.html">CReflectivityGridMap2DPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#acb9839b8a041658bf78698c22b353aba">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_simple_points_map_ptr.html">CSimplePointsMapPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a262a806a71cc901ad6c1465b81f746aa">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_weighted_points_map_ptr.html">CWeightedPointsMapPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#aa49ff28a3a85f9ac46a54817e4903f6a">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d_ptr.html">CWirelessPowerGridMap2DPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#ab0b887f009ace5e0a3293d881e586d0e">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_action_ptr.html">CActionPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a96761cd69a86ef9d43f03860cb5afa90">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_action_collection_ptr.html">CActionCollectionPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a80799165f580ed7bbef026feda981b64">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_ptr.html">CActionRobotMovement2DPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#ae5382bd820ee4b744cd5d0b965824b72">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement3_d_ptr.html">CActionRobotMovement3DPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool OBS_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__obs__grp.html#gaa7c197033076cfa76c71a49eceebde44">carmen_log_parse_line</a> (<a class="el" href="classstd_1_1istream.html">std::istream</a> &in_stream, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">mrpt::slam::CObservationPtr</a> > &out_imported_observations, const <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> &time_start_log)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation. <a href="group__mrpt__obs__grp.html#gaa7c197033076cfa76c71a49eceebde44"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a529781480677ddc36b72283859035133">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_ptr.html">CMetricMapPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#adec6386e8df0a163b62d5c0881ed5859">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool OBS_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a33e719594ab83027b603865802b3e0b8">operator<</a> (const <a class="el" href="structmrpt_1_1slam_1_1_t2_d_scan_properties.html">T2DScanProperties</a> &a, const <a class="el" href="structmrpt_1_1slam_1_1_t2_d_scan_properties.html">T2DScanProperties</a> &b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Order operator, so <a class="el" href="structmrpt_1_1slam_1_1_t2_d_scan_properties.html" title="Auxiliary struct that holds all the relevant *geometry* information about a 2D scan.">T2DScanProperties</a> can appear in associative STL containers. <a href="#a33e719594ab83027b603865802b3e0b8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#ac04dcaa442a9fe54f5fcca3d1d4e6c07">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation2_d_range_scan_ptr.html">CObservation2DRangeScanPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a2234e9c770e5abf2236504c575a90f98">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation3_d_range_scan_ptr.html">CObservation3DRangeScanPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a9a90c5adadd59db8b7cbeb058e6f247c">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_battery_state_ptr.html">CObservationBatteryStatePtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#aad9f58c53ee685a03a61b559339cedf3">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_beacon_ranges_ptr.html">CObservationBeaconRangesPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#af5c1da7f9fcf70b32939b12831ca30ee">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_ptr.html">CObservationBearingRangePtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a553adaa4d9168ffa3778dd716ea2d67d">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_comment_ptr.html">CObservationCommentPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a72c04d9573d42baa0047815533929c8b">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_ptr.html">CObservationGasSensorsPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#acd8f34eec504efae2b136fbccce53859">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_ptr.html">CObservationGPSPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a08c39f39a579b5607770ca63e0130c8b">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_image_ptr.html">CObservationImagePtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a850b78083c818a3433af972804ab7190">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_i_m_u_ptr.html">CObservationIMUPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a0f6cb9a3af558a52abf23811c89da07a">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_odometry_ptr.html">CObservationOdometryPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a93d61d52a84a54ce7154a4f55fd3f1b9">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_range_ptr.html">CObservationRangePtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a604526b4dc66531dc7895b882ab7cd15">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_reflectivity_ptr.html">CObservationReflectivityPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#ae8aaad18a27aa9da8bc774261bb2b640">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_stereo_images_ptr.html">CObservationStereoImagesPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#ac408875dfe2fbb87935a7d28af20fcc4">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_stereo_images_features_ptr.html">CObservationStereoImagesFeaturesPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a6f0098a406d1235732946692841757ba">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_wireless_power_ptr.html">CObservationWirelessPowerPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#aa01dfd489766e0f110c33a8108705b81">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_rawlog_ptr.html">CRawlogPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#acb61dc226ab4c46200f5f827a2b26bc7">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#ac41cd4ec0af26be5a68b3296897d4c96">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_simple_map_ptr.html">CSimpleMapPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a51e5770fa20e527d74f71aae67607379">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_ptr.html">CIncrementalMapPartitionerPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a62dc5f5ee11a840778e5f38fa64d04d5">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_ptr.html">CMultiMetricMapPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a8eb4709ddb7291d22d2e1f93b85e3852">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_r_b_p_f_particle_data_ptr.html">CRBPFParticleDataPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#ac3338323b5f15f3c5e47d69e07176f36">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_ptr.html">CMultiMetricMapPDFPtr</a> &pObj)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<class PARTICLETYPE , class BINTYPE > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a7720271f94374305e769b3e742de20fb">KLF_loadBinFromParticle</a> (BINTYPE &outBin, const <a class="el" href="classmrpt_1_1slam_1_1_t_k_l_d_params.html">TKLDParams</a> &opts, const PARTICLETYPE *currentParticleValue=NULL, const <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">TPose3D</a> *newPoseToBeInserted=NULL)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a8fb52561c883c80d44a207d2419ae60a">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_landmark_ptr.html">CLandmarkPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#afbac113e1c3037cb4539d093fe066432">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_ptr.html">CLandmarksMapPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html#a071f54f0620c297bb02180df56091b0d">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_visual_landmarks_ptr.html">CObservationVisualLandmarksPtr</a> &pObj)</td></tr>
<tr><td colspan="2"><div class="groupHeader">Observations overlap functions</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double SLAM_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__slam__grp.html#ga2d32509abfdfd42e7597186bf2ab0ab0">observationsOverlap</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html">mrpt::slam::CObservation</a> *o1, const <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html">mrpt::slam::CObservation</a> *o2, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> *pose_o2_wrt_o1=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions. <a href="group__mrpt__slam__grp.html#ga2d32509abfdfd42e7597186bf2ab0ab0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__slam__grp.html#ga3f4bb0b8cc83dec2e79704fab7cdfd52">observationsOverlap</a> (const <a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">mrpt::slam::CObservationPtr</a> &o1, const <a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">mrpt::slam::CObservationPtr</a> &o2, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> *pose_o2_wrt_o1=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions. <a href="group__mrpt__slam__grp.html#ga3f4bb0b8cc83dec2e79704fab7cdfd52"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double SLAM_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__slam__grp.html#ga93d1273b13626d7d4fee77e8e42238be">observationsOverlap</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> &sf1, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> &sf2, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> *pose_sf2_wrt_sf1=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions. <a href="group__mrpt__slam__grp.html#ga93d1273b13626d7d4fee77e8e42238be"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__slam__grp.html#gad78544711408a739f049def4b50957ac">observationsOverlap</a> (const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">mrpt::slam::CSensoryFramePtr</a> &sf1, const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">mrpt::slam::CSensoryFramePtr</a> &sf2, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> *pose_sf2_wrt_sf1=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions. <a href="group__mrpt__slam__grp.html#gad78544711408a739f049def4b50957ac"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
Data association</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__data__assoc__grp.html#gaf66b40e2929429a8b181039f447caf84">TDataAssociationMethod</a> { <a class="el" href="group__data__assoc__grp.html#ggaf66b40e2929429a8b181039f447caf84a858a176524bad893addcc52d6afde9b9">assocNN</a> = 0,
<a class="el" href="group__data__assoc__grp.html#ggaf66b40e2929429a8b181039f447caf84a5134a35928e5ad1957d952e3ca581c86">assocJCBB</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Different algorithms for data association, used in mrpt::slam::data_association. <a href="group__data__assoc__grp.html#gaf66b40e2929429a8b181039f447caf84">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__data__assoc__grp.html#gaba3986ed0165435285d91f15552abbc5">TDataAssociationMetric</a> { <a class="el" href="group__data__assoc__grp.html#ggaba3986ed0165435285d91f15552abbc5a706fcfb14864aa06819688a46c1412dd">metricMaha</a> = 0,
<a class="el" href="group__data__assoc__grp.html#ggaba3986ed0165435285d91f15552abbc5a66288fdf7f95208abfdf477d1007a6f0">metricML</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Different metrics for data association, used in mrpt::slam::data_association. <a href="group__data__assoc__grp.html#gaba3986ed0165435285d91f15552abbc5">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__data__assoc__grp.html#ga520476290900728ff7128ce1fba33ab5">observation_index_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in <a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html" title="The results from mrpt::slam::data_association.">mrpt::slam::TDataAssociationResults</a>. <a href="group__data__assoc__grp.html#ga520476290900728ff7128ce1fba33ab5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__data__assoc__grp.html#ga4869496c65ccee6078ffc64e8c855e8d">prediction_index_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in <a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html" title="The results from mrpt::slam::data_association.">mrpt::slam::TDataAssociationResults</a>. <a href="group__data__assoc__grp.html#ga4869496c65ccee6078ffc64e8c855e8d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void SLAM_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__data__assoc__grp.html#gae98a41b16cbc015a8099b79ad1a5750e">data_association_full_covariance</a> (const <a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">mrpt::math::CMatrixDouble</a> &Z_observations_mean, const <a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">mrpt::math::CMatrixDouble</a> &Y_predictions_mean, const <a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">mrpt::math::CMatrixDouble</a> &Y_predictions_cov, <a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html">TDataAssociationResults</a> &results, const <a class="el" href="group__data__assoc__grp.html#gaf66b40e2929429a8b181039f447caf84">TDataAssociationMethod</a> method=assocJCBB, const <a class="el" href="group__data__assoc__grp.html#gaba3986ed0165435285d91f15552abbc5">TDataAssociationMetric</a> metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="group__data__assoc__grp.html#ga4869496c65ccee6078ffc64e8c855e8d">prediction_index_t</a> > &predictions_IDs=<a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="group__data__assoc__grp.html#ga4869496c65ccee6078ffc64e8c855e8d">prediction_index_t</a> >(), const <a class="el" href="group__data__assoc__grp.html#gaba3986ed0165435285d91f15552abbc5">TDataAssociationMetric</a> compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the data-association between the prediction of a set of landmarks and their observations, all of them with covariance matrices - Generic version with prediction full cross-covariances. <a href="group__data__assoc__grp.html#gae98a41b16cbc015a8099b79ad1a5750e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void SLAM_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__data__assoc__grp.html#gae193c8fb0ffafacf47f9ba9da0e73deb">data_association_independent_predictions</a> (const <a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">mrpt::math::CMatrixDouble</a> &Z_observations_mean, const <a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">mrpt::math::CMatrixDouble</a> &Y_predictions_mean, const <a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">mrpt::math::CMatrixDouble</a> &Y_predictions_cov, <a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html">TDataAssociationResults</a> &results, const <a class="el" href="group__data__assoc__grp.html#gaf66b40e2929429a8b181039f447caf84">TDataAssociationMethod</a> method=assocJCBB, const <a class="el" href="group__data__assoc__grp.html#gaba3986ed0165435285d91f15552abbc5">TDataAssociationMetric</a> metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="group__data__assoc__grp.html#ga4869496c65ccee6078ffc64e8c855e8d">prediction_index_t</a> > &predictions_IDs=<a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="group__data__assoc__grp.html#ga4869496c65ccee6078ffc64e8c855e8d">prediction_index_t</a> >(), const <a class="el" href="group__data__assoc__grp.html#gaba3986ed0165435285d91f15552abbc5">TDataAssociationMetric</a> compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the data-association between the prediction of a set of landmarks and their observations, all of them with covariance matrices - Generic version with NO prediction cross-covariances. <a href="group__data__assoc__grp.html#gae193c8fb0ffafacf47f9ba9da0e73deb"></a><br/></td></tr>
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<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="adb96c67ccb95922aad7cdf6c3b68ffa9"></a><!-- doxytag: member="mrpt::slam::TGasConcentrationCell" ref="adb96c67ccb95922aad7cdf6c3b68ffa9" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1slam_1_1_t_random_field_cell.html">TRandomFieldCell</a> <a class="el" href="namespacemrpt_1_1slam.html#adb96c67ccb95922aad7cdf6c3b68ffa9">mrpt::slam::TGasConcentrationCell</a></td>
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<p>Defined for backward compatibility only (mrpt <0.9.5) </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00047">47</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a361f9c7627d8e3c9f4efebb36db4472d"></a><!-- doxytag: member="mrpt::slam::TListTimeAndObservations" ref="a361f9c7627d8e3c9f4efebb36db4472d" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1multimap.html">std::multimap</a><<a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a>, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a>> <a class="el" href="namespacemrpt_1_1slam.html#a361f9c7627d8e3c9f4efebb36db4472d">mrpt::slam::TListTimeAndObservations</a></td>
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<p>For usage with <a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html" title="This class stores a rawlog (robotic datasets) in one of two possible formats:">CRawlog</a> classes. </p>
<p>Definition at line <a class="el" href="_c_rawlog_8h_source.html#l00047">47</a> of file <a class="el" href="_c_rawlog_8h_source.html">CRawlog.h</a>.</p>
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<a class="anchor" id="a4a08ae2dfc5960f445532895b5012dbf"></a><!-- doxytag: member="mrpt::slam::TMetricMapList" ref="a4a08ae2dfc5960f445532895b5012dbf" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1deque.html">std::deque</a><<a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a>*> <a class="el" href="namespacemrpt_1_1slam.html#a4a08ae2dfc5960f445532895b5012dbf">mrpt::slam::TMetricMapList</a></td>
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<p>A list of metric maps (used in the <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html" title="Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x...">mrpt::poses::CPosePDFParticles</a> class): </p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00354">354</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<a class="anchor" id="a932bc93200d4cc0b9884d3d1845d94f2"></a><!-- doxytag: member="mrpt::slam::TSequenceLandmarks" ref="a932bc93200d4cc0b9884d3d1845d94f2" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html">CLandmark</a>> <a class="el" href="namespacemrpt_1_1slam.html#a932bc93200d4cc0b9884d3d1845d94f2">mrpt::slam::TSequenceLandmarks</a></td>
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<p>Internal use. </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00048">48</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="a85570fb9b901d02399bf21dc48706cdd"></a><!-- doxytag: member="mrpt::slam::TTimeObservationPair" ref="a85570fb9b901d02399bf21dc48706cdd" args="" -->
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<td class="memname">typedef std::pair<<a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a>, <a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a>> <a class="el" href="namespacemrpt_1_1slam.html#a85570fb9b901d02399bf21dc48706cdd">mrpt::slam::TTimeObservationPair</a></td>
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<p>For usage with <a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html" title="This class stores a rawlog (robotic datasets) in one of two possible formats:">CRawlog</a> classes. </p>
<p>Definition at line <a class="el" href="_c_rawlog_8h_source.html#l00046">46</a> of file <a class="el" href="_c_rawlog_8h_source.html">CRawlog.h</a>.</p>
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="a7720271f94374305e769b3e742de20fb"></a><!-- doxytag: member="mrpt::slam::KLF_loadBinFromParticle" ref="a7720271f94374305e769b3e742de20fb" args="(BINTYPE &outBin, const TKLDParams &opts, const PARTICLETYPE *currentParticleValue=NULL, const TPose3D *newPoseToBeInserted=NULL)" -->
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<td class="memname">void mrpt::slam::KLF_loadBinFromParticle </td>
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<td class="memname">bool OBS_IMPEXP mrpt::slam::operator< </td>
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<p>Order operator, so <a class="el" href="structmrpt_1_1slam_1_1_t2_d_scan_properties.html" title="Auxiliary struct that holds all the relevant *geometry* information about a 2D scan.">T2DScanProperties</a> can appear in associative STL containers. </p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
