There exists many kinds of metric maps and observations in MRPT, but some operations involving a map and an observation (for example "inserting" an observation in a map to update it) only make sense for a small subset of map-observation combinations.
See:
The following tables summarize the valid combinations, as implemented so far:
insertObservation()
See: mrpt::maps::CMetricMaps::insertObservation()
computeObservationLikelihood()
See: mrpt::maps::CMetricMaps::computeObservationLikelihood()
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