Definition at line 144 of file CHMTSLAM.h.
#include <mrpt/hmtslam/CHMTSLAM.h>
Public Member Functions | |
TBI_info () | |
Public Attributes | |
double | log_lik |
Log likelihood for this loop-closure. | |
CPose3DPDFSOG | delta_new_cur |
Depending on the loop-closure engine, an guess of the relative pose of "area_new" relative to "cur_area" is given here. |
mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::TBI_info | ( | ) | [inline] |
Definition at line 146 of file CHMTSLAM.h.
Depending on the loop-closure engine, an guess of the relative pose of "area_new" relative to "cur_area" is given here.
If the SOG contains 0 modes, then the engine does not provide this information.
Definition at line 154 of file CHMTSLAM.h.
Log likelihood for this loop-closure.
Definition at line 149 of file CHMTSLAM.h.
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