9 #ifndef CObservation2DRangeScanWithUncertainty_H 10 #define CObservation2DRangeScanWithUncertainty_H
A 2D range scan plus an uncertainty model for each range.
The same ranges than in rangeScan.scan, for convenience as an Eigen container, and with double prec...
(Default: 0.3) Conditional probability: how many of the "no return" ranges come from a failure to det...
The observation with the mean ranges in the scan field.
(Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray...
double evaluateScanLikelihood(const CObservation2DRangeScan &otherScan, const TEvalParams ¶ms) 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...
(Default: 1.0m) Maximum std deviation of overall uncertainty for a range prediction to be considered ...
The covariance matrix for all the ranges in rangeScan.scan.
(Default: -20) Minimum log-likelihood of a single ray
GLenum const GLfloat * params