CObservation2DRangeScanWithUncertainty.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CObservation2DRangeScanWithUncertainty_H
#define CObservation2DRangeScanWithUncertainty_H

#include <mrpt/obs/CObservation2DRangeScan.h>
#include <vector>

namespace mrpt
{
namespace obs
{
        /** A 2D range scan plus an uncertainty model for each range.
          * \sa mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()
          */
        class OBS_IMPEXP CObservation2DRangeScanWithUncertainty
        {
        public:
                CObservation2DRangeScan  rangeScan;     //!< The observation with the mean ranges in the scan field
                Eigen::VectorXd          rangesMean;    //!< The same ranges than in rangeScan.scan[], for convenience as an Eigen container, and with `double` precision
                Eigen::MatrixXd          rangesCovar;   //!< The covariance matrix for all the ranges in rangeScan.scan[]

                struct OBS_IMPEXP TEvalParams
                {
                        double prob_outliers;          //!< (Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray.
                        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.
                        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
                        double min_ray_log_lik;        //!< (Default: -20) Minimum log-likelihood of a single ray

                        TEvalParams();
                };

                /** Returns a measure of the likelihood of a given scan, compared to this scan variances */
                double evaluateScanLikelihood(const CObservation2DRangeScan& otherScan, const TEvalParams &params) const;
        };

} // End of namespace
} // End of namespace
#endif