X-lanni
51 lines
1016 B
Plaintext
51 lines
1016 B
Plaintext
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########################################
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# RTAB-Map info with statistics
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########################################
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std_msgs/Header header
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int32 ref_id
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int32 loop_closure_id
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int32 proximity_detection_id
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int32 landmark_id
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geometry_msgs/Transform loop_closure_transform
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####
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# For statistics...
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####
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# State (node IDs) of the current Working Memory (including STM)
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int32[] wm_state
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# std::map<int, float> posterior;
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int32[] posterior_keys
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float32[] posterior_values
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# std::map<int, float> likelihood;
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int32[] likelihood_keys
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float32[] likelihood_values
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# std::map<int, float> raw_likelihood;
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int32[] raw_likelihood_keys
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float32[] raw_likelihood_values
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# std::map<int, int> weights;
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int32[] weights_keys
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int32[] weights_values
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# std::map<int, std::string> labels;
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int32[] labels_keys
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string[] labels_values
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# std::map<std::string, float> stats
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string[] stats_keys
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float32[] stats_values
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# std::vector<int> local_path
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int32[] local_path
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int32 current_goal_id
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# std::vector<int> odomCache
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MapGraph odom_cache
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