struct mrpt::maps::TRandomFieldCell

The contents of each cell in a CRandomFieldGridMap2D map.

#include <mrpt/maps/CRandomFieldGridMap2D.h>

struct TRandomFieldCell
{
    //
fields

    double param1_ = 0;
    double param2_ = 0;
    double dmv_var_mean {0};
    mrpt::system::TTimeStamp last_updated;
    double updated_std;

    // construction

    TRandomFieldCell(double kfmean_dm_mean = 1e-20, double kfstd_dmmeanw = 0);

    //
methods

    double& kf_mean();
    const double& kf_mean() const;
    double& dm_mean();
    const double& dm_mean() const;
    double& gmrf_mean();
    const double& gmrf_mean() const;
    double& kf_std();
    const double& kf_std() const;
    double& dm_mean_w();
    const double& dm_mean_w() const;
    double& gmrf_std();
    const double& gmrf_std() const;
};

Fields

double dmv_var_mean {0}

[Kernel DM-V only] The cumulative weighted variance of this cell

mrpt::system::TTimeStamp last_updated

[Dynamic maps only] The timestamp of the last time the cell was updated

double updated_std

[Dynamic maps only] The std cell value that was updated (to be used in the Forgetting_curve

Construction

TRandomFieldCell(double kfmean_dm_mean = 1e-20, double kfstd_dmmeanw = 0)

Constructor.

Methods

double& kf_mean()

[KF-methods only] The mean value of this cell

double& dm_mean()

[Kernel-methods only] The cumulative weighted readings of this cell

double& gmrf_mean()

[GMRF only] The mean value of this cell

double& kf_std()

[KF-methods only] The standard deviation value of this cell

double& dm_mean_w()

[Kernel-methods only] The cumulative weights (concentration = alpha

• dm_mean / dm_mean_w + (1-alpha)*r0 )