Struct GMMTMapCluster

• Defined in File gmmtmap.hpp

Struct Documentation

struct GMMTMapCluster

Public Functions

inline GMMTMapCluster() = default

Default constructor.

inline GMMTMapCluster(double pi, const std::vector<std::array<double, 2>> &mean, std::vector<double> heading)

Constructor of a cluster.

Parameters:

• pi – Mixing factor.

• mean – A vector of 2D means for the @K_ Gaussians.

• heading – A vector of approximate headings.

Public Members

double mixing_factor

Mixing factor.

std::vector<std::array<double, 2>> mean

Cluster means.

std::vector<double> heading

Approximate heading computed using an average.