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<div class="title">data_association.h File Reference</div> </div>
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<div class="textblock"><code>#include <<a class="el" href="utils__defs_8h_source.html">mrpt/utils/utils_defs.h</a>></code><br/>
<code>#include <<a class="el" href="_c_point2_d_p_d_f_gaussian_8h_source.html">mrpt/poses/CPoint2DPDFGaussian.h</a>></code><br/>
<code>#include <<a class="el" href="_c_point_p_d_f_gaussian_8h_source.html">mrpt/poses/CPointPDFGaussian.h</a>></code><br/>
<code>#include <<a class="el" href="_t_enum_type_8h_source.html">mrpt/utils/TEnumType.h</a>></code><br/>
<code>#include <<a class="el" href="slam_2include_2mrpt_2slam_2link__pragmas_8h_source.html">mrpt/slam/link_pragmas.h</a>></code><br/>
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Include dependency graph for data_association.h:</div>
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This graph shows which files directly or indirectly include this file:</div>
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<area shape="rect" id="node3" href="_c_range_bearing_k_f_s_l_a_m_8h.html" title="CRangeBearingKFSLAM.h" alt="" coords="5,80,184,107"/><area shape="rect" id="node5" href="slam_8h.html" title="slam.h" alt="" coords="191,155,252,181"/><area shape="rect" id="node7" href="_c_range_bearing_k_f_s_l_a_m2_d_8h.html" title="CRangeBearingKFSLAM2D.h" alt="" coords="259,80,453,107"/></map>
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<p><a href="data__association_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<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_t_data_association_results.html">mrpt::slam::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">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1utils_1_1_t_enum_type_filler_3_01slam_1_1_t_data_association_method_01_4.html">mrpt::utils::TEnumTypeFiller< slam::TDataAssociationMethod ></a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1utils_1_1_t_enum_type_filler_3_01slam_1_1_t_data_association_metric_01_4.html">mrpt::utils::TEnumTypeFiller< slam::TDataAssociationMetric ></a></td></tr>
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt.html">mrpt</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. </p>
<br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html">mrpt::slam</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><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>
<br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1utils.html">mrpt::utils</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL. </p>
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<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">mrpt::slam::TDataAssociationMethod</a> { <a class="el" href="group__data__assoc__grp.html#ggaf66b40e2929429a8b181039f447caf84a858a176524bad893addcc52d6afde9b9">mrpt::slam::assocNN</a> = 0,
<a class="el" href="group__data__assoc__grp.html#ggaf66b40e2929429a8b181039f447caf84a5134a35928e5ad1957d952e3ca581c86">mrpt::slam::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">mrpt::slam::TDataAssociationMetric</a> { <a class="el" href="group__data__assoc__grp.html#ggaba3986ed0165435285d91f15552abbc5a706fcfb14864aa06819688a46c1412dd">mrpt::slam::metricMaha</a> = 0,
<a class="el" href="group__data__assoc__grp.html#ggaba3986ed0165435285d91f15552abbc5a66288fdf7f95208abfdf477d1007a6f0">mrpt::slam::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">mrpt::slam::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">mrpt::slam::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">mrpt::slam::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, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric 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>< prediction_index_t > &predictions_IDs=<a class="el" href="classstd_1_1vector.html">std::vector</a>< prediction_index_t >(), const TDataAssociationMetric 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">mrpt::slam::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, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric 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>< prediction_index_t > &predictions_IDs=<a class="el" href="classstd_1_1vector.html">std::vector</a>< prediction_index_t >(), const TDataAssociationMetric 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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