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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. |
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8  +------------------------------------------------------------------------+ */
9 #ifndef CObservation2DRangeScanWithUncertainty_H
10 #define CObservation2DRangeScanWithUncertainty_H
11 
13 #include <vector>
14 
15 namespace mrpt
16 {
17 namespace obs
18 {
19 /** A 2D range scan plus an uncertainty model for each range.
20  * \sa mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()
21  */
23 {
24  public:
25  /** The observation with the mean ranges in the scan field */
27  /** The same ranges than in rangeScan.scan[], for convenience as an Eigen
28  * container, and with `double` precision */
29  Eigen::VectorXd rangesMean;
30  /** The covariance matrix for all the ranges in rangeScan.scan[] */
31  Eigen::MatrixXd rangesCovar;
32 
33  struct TEvalParams
34  {
35  /** (Default: 0.5) Probability of having an outlier (dynamic obstacles,
36  * not mapped) in each scan ray. */
37  double prob_outliers;
38  /** (Default: 0.3) Conditional probability: how many of the "no return"
39  * ranges come from a failure to detect a real obstacle. */
40  double prob_lost_ray;
41  /** (Default: 1.0m) Maximum std deviation of overall uncertainty for a
42  * range prediction to be considered as reliable for evaluation */
44  /** (Default: -20) Minimum log-likelihood of a single ray */
46 
47  TEvalParams();
48  };
49 
50  /** Returns a measure of the likelihood of a given scan, compared to this
51  * scan variances */
53  const CObservation2DRangeScan& otherScan,
54  const TEvalParams& params) const;
55 };
56 
57 } // End of namespace
58 } // End of namespace
59 #endif
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...
double evaluateScanLikelihood(const CObservation2DRangeScan &otherScan, const TEvalParams &params) const
Returns a measure of the likelihood of a given scan, compared to this scan variances.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
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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