class mrpt::obs::CObservation2DRangeScanWithUncertainty

A 2D range scan plus an uncertainty model for each range.

See also:

mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()

#include <mrpt/obs/CObservation2DRangeScanWithUncertainty.h>

class CObservation2DRangeScanWithUncertainty
{
public:
    // structs

    struct TEvalParams;

    //
fields

    CObservation2DRangeScan rangeScan;
    mrpt::math::CVectorDouble rangesMean;
    mrpt::math::CMatrixDouble rangesCovar;

    //
methods

    double evaluateScanLikelihood(const CObservation2DRangeScan& otherScan, const TEvalParams& params) const;
};

Fields

CObservation2DRangeScan rangeScan

The observation with the mean ranges in the scan field.

mrpt::math::CVectorDouble rangesMean

The same ranges than in rangeScan.getScanRange(), for convenience as a math vector container, and with double precision.

mrpt::math::CMatrixDouble rangesCovar

The covariance matrix for all the ranges in rangeScan.getScanRange()

Methods

double evaluateScanLikelihood(const CObservation2DRangeScan& otherScan, const TEvalParams& params) const

Returns a measure of the likelihood of a given scan, compared to this scan variances.