Largest pose-graph constraint violations after optimization. More...

#include <Graph.h>

Collaboration diagram for rtabmap::graph::MaxGraphErrors:

Public Attributes
float	linear =-1.0f
	Absolute linear error (m) of the worst link.

float	angular =-1.0f
	Absolute angular error (rad) of the worst link.

float	linearRatio =-1.0f
	linear / sqrt(trans variance) of the worst link.

float	angularRatio =-1.0f
	angular / sqrt(rot variance) of the worst link.

Link	linearLink
	Link with largest linearRatio.

Link	angularLink
	Link with largest angularRatio.

Detailed Description

Largest pose-graph constraint violations after optimization.

For each non-self-referenced link (from != to), compares the relative pose implied by poses to the link measurement and tracks the worst linear/angular error and error/std ratios.

Definition at line 231 of file Graph.h.

Member Data Documentation

◆ linear

float rtabmap::graph::MaxGraphErrors::linear =-1.0f

Absolute linear error (m) of the worst link.

Definition at line 233 of file Graph.h.

◆ angular

float rtabmap::graph::MaxGraphErrors::angular =-1.0f

Absolute angular error (rad) of the worst link.

Definition at line 234 of file Graph.h.

◆ linearRatio

float rtabmap::graph::MaxGraphErrors::linearRatio =-1.0f

linear / sqrt(trans variance) of the worst link.

Definition at line 235 of file Graph.h.

◆ angularRatio

float rtabmap::graph::MaxGraphErrors::angularRatio =-1.0f

angular / sqrt(rot variance) of the worst link.

Definition at line 236 of file Graph.h.

◆ linearLink

Link rtabmap::graph::MaxGraphErrors::linearLink

Link with largest linearRatio.

Definition at line 237 of file Graph.h.

◆ angularLink

Link rtabmap::graph::MaxGraphErrors::angularLink

Link with largest angularRatio.

Definition at line 238 of file Graph.h.

The documentation for this struct was generated from the following file:

corelib/include/rtabmap/core/Graph.h

Public Attributes