struct mrpt::maps::COccupancyGridMap2D::TLikelihoodOutput

Some members of this struct will contain intermediate or output data after calling “computeObservationLikelihood” for some likelihood functions.

#include <mrpt/maps/COccupancyGridMap2D.h>

struct TLikelihoodOutput
{
    //
fields

    std::vector<TPairLikelihoodIndex> OWA_pairList;
    std::vector<double> OWA_individualLikValues;
};

Fields

std::vector<TPairLikelihoodIndex> OWA_pairList

[OWA method] This will contain the ascending-ordered list of pairs:(likelihood values, 2D point in map coordinates).

std::vector<double> OWA_individualLikValues

[OWA method] This will contain the ascending-ordered list of likelihood values for individual range measurements in the scan.