data_association.hpp File Reference

#include <gtest/gtest_prod.h>
#include <Eigen/Dense>
#include <functional>
#include <map>
#include <memory>
#include "common_lib/structures/cone.hpp"
#include "kalman_filter/observation_models.hpp"

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Classes
class	DataAssociationModel
	Data Association Method class, used to match observations to landmarks in the map. More...
class	MaxLikelihood
	Maximum Likelihood Method class, used to match observations to landmarks in the map with maximum likelihood method It uses the Mahalanobis distance to determine the best match It also uses a gate to determine if the match is valid The Mahalanobis distance is calculated as the square root of the innovation covariance The gate is a threshold that the Mahalanobis distance must be below to be considered a valid match The gate is defined as the normalized innovation squared (NIS) gate Normalized Distance. More...

Variables
const std::map< std::string, std::function< std::shared_ptr< DataAssociationModel >(float max_landmark_distance)>, std::less<> >	data_association_model_constructors

Variable Documentation

data_association_model_constructors

const std::map<std::string, std::function<std::shared_ptr<DataAssociationModel>(float max_landmark_distance)>, std::less<> > data_association_model_constructors

Initial value:

= {
        {"max_likelihood",
         [](float max_landmark_distance) -> std::shared_ptr<DataAssociationModel> {
           return std::make_shared<MaxLikelihood>(max_landmark_distance);
         }}}

Definition at line 114 of file data_association.hpp.