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<title>mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info Struct Reference</title>
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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1hmtslam.html">hmtslam</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_message_l_s_l_a_mfrom_t_b_i.html">TMessageLSLAMfromTBI</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_message_l_s_l_a_mfrom_t_b_i_1_1_t_b_i__info.html">TBI_info</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info" -->
<p><code>#include <<a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">mrpt/hmtslam/CHMTSLAM.h</a>></code></p>
<p><a href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_message_l_s_l_a_mfrom_t_b_i_1_1_t_b_i__info-members.html">List of all members.</a></p>
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<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_message_l_s_l_a_mfrom_t_b_i_1_1_t_b_i__info.html#a74cee9bb89d80d2c7db84c71d756c1c2">TBI_info</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_message_l_s_l_a_mfrom_t_b_i_1_1_t_b_i__info.html#aef04a5d335cef24691e264464e16cc96">log_lik</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Log likelihood for this loop-closure. <a href="#aef04a5d335cef24691e264464e16cc96"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html">CPose3DPDFSOG</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_message_l_s_l_a_mfrom_t_b_i_1_1_t_b_i__info.html#a7c7de58302320c357ec26f061f8dad78">delta_new_cur</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Depending on the loop-closure engine, an guess of the relative pose of "area_new" relative to "cur_area" is given here. <a href="#a7c7de58302320c357ec26f061f8dad78"></a><br/></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a74cee9bb89d80d2c7db84c71d756c1c2"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::TBI_info" ref="a74cee9bb89d80d2c7db84c71d756c1c2" args="()" -->
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<td class="memname">mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::TBI_info </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00157">157</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a7c7de58302320c357ec26f061f8dad78"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::delta_new_cur" ref="a7c7de58302320c357ec26f061f8dad78" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html">CPose3DPDFSOG</a> <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_message_l_s_l_a_mfrom_t_b_i_1_1_t_b_i__info.html#a7c7de58302320c357ec26f061f8dad78">mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::delta_new_cur</a></td>
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<p>Depending on the loop-closure engine, an guess of the relative pose of "area_new" relative to "cur_area" is given here. </p>
<p>If the SOG contains 0 modes, then the engine does not provide this information. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00165">165</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<a class="anchor" id="aef04a5d335cef24691e264464e16cc96"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::log_lik" ref="aef04a5d335cef24691e264464e16cc96" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_message_l_s_l_a_mfrom_t_b_i_1_1_t_b_i__info.html#aef04a5d335cef24691e264464e16cc96">mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::log_lik</a></td>
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<p>Log likelihood for this loop-closure. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00160">160</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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