MRPT  1.9.9
CObservation2DRangeScanWithUncertainty.h
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3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef CObservation2DRangeScanWithUncertainty_H
10 #define CObservation2DRangeScanWithUncertainty_H
11 
13 #include <vector>
14 
15 namespace mrpt::obs
16 {
17 /** A 2D range scan plus an uncertainty model for each range.
18  * \sa mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()
19  */
21 {
22  public:
23  /** The observation with the mean ranges in the scan field */
25  /** The same ranges than in rangeScan.scan[], for convenience as an Eigen
26  * container, and with `double` precision */
27  Eigen::VectorXd rangesMean;
28  /** The covariance matrix for all the ranges in rangeScan.scan[] */
29  Eigen::MatrixXd rangesCovar;
30 
31  struct TEvalParams
32  {
33  /** (Default: 0.5) Probability of having an outlier (dynamic obstacles,
34  * not mapped) in each scan ray. */
35  double prob_outliers;
36  /** (Default: 0.3) Conditional probability: how many of the "no return"
37  * ranges come from a failure to detect a real obstacle. */
38  double prob_lost_ray;
39  /** (Default: 1.0m) Maximum std deviation of overall uncertainty for a
40  * range prediction to be considered as reliable for evaluation */
42  /** (Default: -20) Minimum log-likelihood of a single ray */
44 
45  TEvalParams();
46  };
47 
48  /** Returns a measure of the likelihood of a given scan, compared to this
49  * scan variances */
51  const CObservation2DRangeScan& otherScan,
52  const TEvalParams& params) const;
53 };
54 
55 }
56 #endif
57 
58 
A 2D range scan plus an uncertainty model for each range.
Eigen::VectorXd rangesMean
The same ranges than in rangeScan.scan[], for convenience as an Eigen container, and with double prec...
double prob_lost_ray
(Default: 0.3) Conditional probability: how many of the "no return" ranges come from a failure to det...
CObservation2DRangeScan rangeScan
The observation with the mean ranges in the scan field.
double prob_outliers
(Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray...
This namespace contains representation of robot actions and observations.
double evaluateScanLikelihood(const CObservation2DRangeScan &otherScan, const TEvalParams &params) const
Returns a measure of the likelihood of a given scan, compared to this scan variances.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
double max_prediction_std_dev
(Default: 1.0m) Maximum std deviation of overall uncertainty for a range prediction to be considered ...
Eigen::MatrixXd rangesCovar
The covariance matrix for all the ranges in rangeScan.scan[].
double min_ray_log_lik
(Default: -20) Minimum log-likelihood of a single ray
GLenum const GLfloat * params
Definition: glext.h:3534



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