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<div class="headertitle"><div class="title">rtabmap::graph::MaxGraphErrors Struct Reference</div></div>
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<p>Largest pose-graph constraint violations after optimization.
<a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="Graph_8h_source.html">Graph.h</a>&gt;</code></p>
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Public Attributes</h2></td></tr>
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<tr class="memdesc:a81e053c54198c0c57dba6ef65d1c3a8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Absolute linear error (m) of the worst link. <br /></td></tr>
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<tr class="memitem:a08918b252e5814477beff38b423df39b" id="r_a08918b252e5814477beff38b423df39b"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a08918b252e5814477beff38b423df39b">angular</a> =-1.0f</td></tr>
<tr class="memdesc:a08918b252e5814477beff38b423df39b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Absolute angular error (rad) of the worst link. <br /></td></tr>
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<tr class="memitem:a2a49ed004369d9a6670781d7f3b3cae9" id="r_a2a49ed004369d9a6670781d7f3b3cae9"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a2a49ed004369d9a6670781d7f3b3cae9">linearRatio</a> =-1.0f</td></tr>
<tr class="memdesc:a2a49ed004369d9a6670781d7f3b3cae9"><td class="mdescLeft">&#160;</td><td class="mdescRight">linear / sqrt(trans variance) of the worst link. <br /></td></tr>
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<tr class="memdesc:a97bead9a8191f2746e2586a965ca3c80"><td class="mdescLeft">&#160;</td><td class="mdescRight">angular / sqrt(rot variance) of the worst link. <br /></td></tr>
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<tr class="memitem:ae51dd46bd7d7f6779b681eb906654321" id="r_ae51dd46bd7d7f6779b681eb906654321"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Link.html">Link</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#ae51dd46bd7d7f6779b681eb906654321">linearLink</a></td></tr>
<tr class="memdesc:ae51dd46bd7d7f6779b681eb906654321"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Link.html" title="Directed constraint between two nodes in RTAB-Map&#39;s pose graph.">Link</a> with largest <a class="el" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a2a49ed004369d9a6670781d7f3b3cae9">linearRatio</a>. <br /></td></tr>
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<tr class="memdesc:a95dc5269dfe47ed56b315cebe3389ab6"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Link.html" title="Directed constraint between two nodes in RTAB-Map&#39;s pose graph.">Link</a> with largest <a class="el" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a97bead9a8191f2746e2586a965ca3c80">angularRatio</a>. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Largest pose-graph constraint violations after optimization. </p>
<p>For each non-self-referenced link (<code>from != to</code>), compares the relative pose implied by <code>poses</code> to the link measurement and tracks the worst linear/angular error and error/std ratios. </p>
<p class="definition">Definition at line <a class="el" href="Graph_8h_source.html#l00231">231</a> of file <a class="el" href="Graph_8h_source.html">Graph.h</a>.</p>
</div><h2 class="groupheader">Member Data Documentation</h2>
<a id="a81e053c54198c0c57dba6ef65d1c3a8c" name="a81e053c54198c0c57dba6ef65d1c3a8c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a81e053c54198c0c57dba6ef65d1c3a8c">&#9670;&#160;</a></span>linear</h2>
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<td class="memname">float rtabmap::graph::MaxGraphErrors::linear =-1.0f</td>
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<p>Absolute linear error (m) of the worst link. </p>
<p class="definition">Definition at line <a class="el" href="Graph_8h_source.html#l00233">233</a> of file <a class="el" href="Graph_8h_source.html">Graph.h</a>.</p>
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<a id="a08918b252e5814477beff38b423df39b" name="a08918b252e5814477beff38b423df39b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a08918b252e5814477beff38b423df39b">&#9670;&#160;</a></span>angular</h2>
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<td class="memname">float rtabmap::graph::MaxGraphErrors::angular =-1.0f</td>
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<p>Absolute angular error (rad) of the worst link. </p>
<p class="definition">Definition at line <a class="el" href="Graph_8h_source.html#l00234">234</a> of file <a class="el" href="Graph_8h_source.html">Graph.h</a>.</p>
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<a id="a2a49ed004369d9a6670781d7f3b3cae9" name="a2a49ed004369d9a6670781d7f3b3cae9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2a49ed004369d9a6670781d7f3b3cae9">&#9670;&#160;</a></span>linearRatio</h2>
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<td class="memname">float rtabmap::graph::MaxGraphErrors::linearRatio =-1.0f</td>
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<p>linear / sqrt(trans variance) of the worst link. </p>
<p class="definition">Definition at line <a class="el" href="Graph_8h_source.html#l00235">235</a> of file <a class="el" href="Graph_8h_source.html">Graph.h</a>.</p>
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<a id="a97bead9a8191f2746e2586a965ca3c80" name="a97bead9a8191f2746e2586a965ca3c80"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a97bead9a8191f2746e2586a965ca3c80">&#9670;&#160;</a></span>angularRatio</h2>
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<td class="memname">float rtabmap::graph::MaxGraphErrors::angularRatio =-1.0f</td>
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<p>angular / sqrt(rot variance) of the worst link. </p>
<p class="definition">Definition at line <a class="el" href="Graph_8h_source.html#l00236">236</a> of file <a class="el" href="Graph_8h_source.html">Graph.h</a>.</p>
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<a id="ae51dd46bd7d7f6779b681eb906654321" name="ae51dd46bd7d7f6779b681eb906654321"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae51dd46bd7d7f6779b681eb906654321">&#9670;&#160;</a></span>linearLink</h2>
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<td class="memname"><a class="el" href="classrtabmap_1_1Link.html">Link</a> rtabmap::graph::MaxGraphErrors::linearLink</td>
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<p><a class="el" href="classrtabmap_1_1Link.html" title="Directed constraint between two nodes in RTAB-Map&#39;s pose graph.">Link</a> with largest <a class="el" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a2a49ed004369d9a6670781d7f3b3cae9">linearRatio</a>. </p>
<p class="definition">Definition at line <a class="el" href="Graph_8h_source.html#l00237">237</a> of file <a class="el" href="Graph_8h_source.html">Graph.h</a>.</p>
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<a id="a95dc5269dfe47ed56b315cebe3389ab6" name="a95dc5269dfe47ed56b315cebe3389ab6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a95dc5269dfe47ed56b315cebe3389ab6">&#9670;&#160;</a></span>angularLink</h2>
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<td class="memname"><a class="el" href="classrtabmap_1_1Link.html">Link</a> rtabmap::graph::MaxGraphErrors::angularLink</td>
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<p><a class="el" href="classrtabmap_1_1Link.html" title="Directed constraint between two nodes in RTAB-Map&#39;s pose graph.">Link</a> with largest <a class="el" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a97bead9a8191f2746e2586a965ca3c80">angularRatio</a>. </p>
<p class="definition">Definition at line <a class="el" href="Graph_8h_source.html#l00238">238</a> of file <a class="el" href="Graph_8h_source.html">Graph.h</a>.</p>
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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="Graph_8h_source.html">Graph.h</a></li>
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