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mrpt::obs::CObservation2DRangeScanWithUncertainty::TEvalParams Struct Reference

Detailed Description

Definition at line 29 of file CObservation2DRangeScanWithUncertainty.h.

#include <mrpt/obs/CObservation2DRangeScanWithUncertainty.h>

Public Member Functions

 TEvalParams ()
 

Public Attributes

double prob_outliers
 (Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray. More...
 
double prob_lost_ray
 (Default: 0.3) Conditional probability: how many of the "no return" ranges come from a failure to detect a real obstacle. More...
 
double max_prediction_std_dev
 (Default: 1.0m) Maximum std deviation of overall uncertainty for a range prediction to be considered as reliable for evaluation More...
 
double min_ray_log_lik
 (Default: -20) Minimum log-likelihood of a single ray More...
 

Constructor & Destructor Documentation

◆ TEvalParams()

CObservation2DRangeScanWithUncertainty::TEvalParams::TEvalParams ( )

Definition at line 17 of file CObservation2DRangeScanWithUncertainty.cpp.

Member Data Documentation

◆ max_prediction_std_dev

double mrpt::obs::CObservation2DRangeScanWithUncertainty::TEvalParams::max_prediction_std_dev

(Default: 1.0m) Maximum std deviation of overall uncertainty for a range prediction to be considered as reliable for evaluation

Definition at line 33 of file CObservation2DRangeScanWithUncertainty.h.

◆ min_ray_log_lik

double mrpt::obs::CObservation2DRangeScanWithUncertainty::TEvalParams::min_ray_log_lik

(Default: -20) Minimum log-likelihood of a single ray

Definition at line 34 of file CObservation2DRangeScanWithUncertainty.h.

◆ prob_lost_ray

double mrpt::obs::CObservation2DRangeScanWithUncertainty::TEvalParams::prob_lost_ray

(Default: 0.3) Conditional probability: how many of the "no return" ranges come from a failure to detect a real obstacle.

Definition at line 32 of file CObservation2DRangeScanWithUncertainty.h.

◆ prob_outliers

double mrpt::obs::CObservation2DRangeScanWithUncertainty::TEvalParams::prob_outliers

(Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray.

Definition at line 31 of file CObservation2DRangeScanWithUncertainty.h.

Referenced by mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood().




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