<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo Struct Reference</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.7.5 --> <script type="text/javascript"> var searchBox = new SearchBox("searchBox", "search",false,'Search'); </script> <div id="navrow1" class="tabs"> <ul class="tablist"> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="modules.html"><span>Modules</span></a></li> <li><a href="namespaces.html"><span>Namespaces</span></a></li> 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class="navelem"><a class="el" href="namespacemrpt_1_1slam.html">slam</a> </li> <li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m.html">CRangeBearingKFSLAM</a> </li> <li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html">TDataAssocInfo</a> </li> </ul> </div> </div> <div class="header"> <div class="summary"> <a href="#pub-methods">Public Member Functions</a> | <a href="#pub-attribs">Public Attributes</a> </div> <div class="headertitle"> <div class="title">mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo Struct Reference</div> </div> </div> <div class="contents"> <!-- doxytag: class="mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2> <div class="textblock"><p>Information for data-association: </p> <dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m.html#a33ef299adf1aa1774b4be0c3a0eaa9a4" title="Returns a read-only reference to the information on the last data-association.">getLastDataAssociation</a> </dd></dl> </div> <p><code>#include <<a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html">mrpt/slam/CRangeBearingKFSLAM.h</a>></code></p> <p><a href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info-members.html">List of all members.</a></p> <table class="memberdecls"> <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_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html#a6b5ae66c754bc7036186f7aa9faa00cd">TDataAssocInfo</a> ()</td></tr> <tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html#a0f4c4f27edd09981f33e231306921f6d">clear</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"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< <a class="el" href="classmrpt_1_1bayes_1_1_c_kalman_filter_capable.html#ad66228d2cc13705900669ccbab41f3d9">kftype</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html#ad81d4608642841c99131d5543806e2b8">Y_pred_means</a></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< <a class="el" href="classmrpt_1_1bayes_1_1_c_kalman_filter_capable.html#ad66228d2cc13705900669ccbab41f3d9">kftype</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html#ad06acfed01d7c2ae50725cc108f851cc">Y_pred_covs</a></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html#ac748170a09b8daee2264cc0409ca654a">predictions_IDs</a></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1map.html">std::map</a>< size_t, size_t > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html#a3379c141330fa2b0131386f29cac6d39">newly_inserted_landmarks</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Map from the 0-based index within the last observation and the landmark 0-based index in the map (the robot-map state vector) Only used for stats and so. <a href="#a3379c141330fa2b0131386f29cac6d39"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html">TDataAssociationResults</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html#a1a020f3cffc5dc7244835390669ed8f5">results</a></td></tr> </table> <hr/><h2>Constructor & Destructor Documentation</h2> <a class="anchor" id="a6b5ae66c754bc7036186f7aa9faa00cd"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::TDataAssocInfo" ref="a6b5ae66c754bc7036186f7aa9faa00cd" args="()" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::TDataAssocInfo </td> <td>(</td> <td class="paramname"></td><td>)</td> <td><code> [inline]</code></td> </tr> </table> </div> <div class="memdoc"> <p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html#l00224">224</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html">CRangeBearingKFSLAM.h</a>.</p> </div> </div> <hr/><h2>Member Function Documentation</h2> <a class="anchor" id="a0f4c4f27edd09981f33e231306921f6d"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::clear" ref="a0f4c4f27edd09981f33e231306921f6d" args="()" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">void mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::clear </td> <td>(</td> <td class="paramtype">void </td> <td class="paramname"></td><td>)</td> <td><code> [inline]</code></td> </tr> </table> </div> <div class="memdoc"> <p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html#l00230">230</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html">CRangeBearingKFSLAM.h</a>.</p> </div> </div> <hr/><h2>Member Data Documentation</h2> <a class="anchor" id="a3379c141330fa2b0131386f29cac6d39"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::newly_inserted_landmarks" ref="a3379c141330fa2b0131386f29cac6d39" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname"><a class="el" href="classstd_1_1map.html">std::map</a><size_t,size_t> <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html#a3379c141330fa2b0131386f29cac6d39">mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::newly_inserted_landmarks</a></td> </tr> </table> </div> <div class="memdoc"> <p>Map from the 0-based index within the last observation and the landmark 0-based index in the map (the robot-map state vector) Only used for stats and so. </p> <p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html#l00242">242</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html">CRangeBearingKFSLAM.h</a>.</p> </div> </div> <a class="anchor" id="ac748170a09b8daee2264cc0409ca654a"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::predictions_IDs" ref="ac748170a09b8daee2264cc0409ca654a" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname"><a class="el" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html#ac748170a09b8daee2264cc0409ca654a">mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::predictions_IDs</a></td> </tr> </table> </div> <div class="memdoc"> <p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html#l00238">238</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html">CRangeBearingKFSLAM.h</a>.</p> </div> </div> <a class="anchor" id="a1a020f3cffc5dc7244835390669ed8f5"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::results" ref="a1a020f3cffc5dc7244835390669ed8f5" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_t_data_association_results.html">TDataAssociationResults</a> <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html#a1a020f3cffc5dc7244835390669ed8f5">mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::results</a></td> </tr> </table> </div> <div class="memdoc"> <p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html#l00245">245</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html">CRangeBearingKFSLAM.h</a>.</p> </div> </div> <a class="anchor" id="ad06acfed01d7c2ae50725cc108f851cc"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::Y_pred_covs" ref="ad06acfed01d7c2ae50725cc108f851cc" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a><<a class="el" href="classmrpt_1_1bayes_1_1_c_kalman_filter_capable.html#ad66228d2cc13705900669ccbab41f3d9">kftype</a>> <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html#ad06acfed01d7c2ae50725cc108f851cc">mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::Y_pred_covs</a></td> </tr> </table> </div> <div class="memdoc"> <p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html#l00237">237</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html">CRangeBearingKFSLAM.h</a>.</p> </div> </div> <a class="anchor" id="ad81d4608642841c99131d5543806e2b8"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::Y_pred_means" ref="ad81d4608642841c99131d5543806e2b8" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a><<a class="el" href="classmrpt_1_1bayes_1_1_c_kalman_filter_capable.html#ad66228d2cc13705900669ccbab41f3d9">kftype</a>> <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m_1_1_t_data_assoc_info.html#ad81d4608642841c99131d5543806e2b8">mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::Y_pred_means</a></td> </tr> </table> </div> <div class="memdoc"> <p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html#l00237">237</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m_8h_source.html">CRangeBearingKFSLAM.h</a>.</p> </div> </div> </div> <br><hr><br> <table border="0" 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