mrpt::maps::COccupancyGridMap2D::TEntropyInfo Struct Reference

Detailed Description

Used for returning entropy related information.

See also

computeEntropy

Definition at line 441 of file COccupancyGridMap2D.h.

#include <mrpt/maps/COccupancyGridMap2D.h>

Public Attributes
double	H {0}
	The target variable for absolute entropy, computed as: H(map)=Sumx,y{ -p(x,y)*ln(p(x,y)) -(1-p(x,y))*ln(1-p(x,y)) } More...
double	I {0}
	The target variable for absolute "information", defining I(x) = 1 - H(x) More...
double	mean_H {0}
	The target variable for mean entropy, defined as entropy per cell: mean_H(map) = H(map) / (cells) More...
double	mean_I {0}
	The target variable for mean information, defined as information per cell: mean_I(map) = I(map) / (cells) More...
double	effectiveMappedArea {0}
	The target variable for the area of cells with information, i.e. More...
unsigned long	effectiveMappedCells {0}
	The mapped area in cells. More...

Member Data Documentation

effectiveMappedArea

double mrpt::maps::COccupancyGridMap2D::TEntropyInfo::effectiveMappedArea {0}

The target variable for the area of cells with information, i.e.

p(x)!=0.5

Definition at line 458 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeEntropy(), and mrpt::apps::RBPF_SLAM_App_Base::run().

effectiveMappedCells

unsigned long mrpt::maps::COccupancyGridMap2D::TEntropyInfo::effectiveMappedCells {0}

The mapped area in cells.

Definition at line 460 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeEntropy(), and mrpt::apps::RBPF_SLAM_App_Base::run().

H

double mrpt::maps::COccupancyGridMap2D::TEntropyInfo::H {0}

The target variable for absolute entropy, computed as:

H(map)=Sum_x,y{ -p(x,y)*ln(p(x,y)) -(1-p(x,y))*ln(1-p(x,y)) }

Definition at line 446 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeEntropy(), mrpt::maps::CMultiMetricMapPDF::getCurrentJointEntropy(), and mrpt::apps::RBPF_SLAM_App_Base::run().

I

double mrpt::maps::COccupancyGridMap2D::TEntropyInfo::I {0}

The target variable for absolute "information", defining I(x) = 1 - H(x)

Definition at line 449 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeEntropy(), mrpt::detectors::CDetectorDoorCrossing::process(), and mrpt::apps::RBPF_SLAM_App_Base::run().

mean_H

double mrpt::maps::COccupancyGridMap2D::TEntropyInfo::mean_H {0}

The target variable for mean entropy, defined as entropy per cell: mean_H(map) = H(map) / (cells)

Definition at line 452 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeEntropy().

mean_I

double mrpt::maps::COccupancyGridMap2D::TEntropyInfo::mean_I {0}

The target variable for mean information, defined as information per cell: mean_I(map) = I(map) / (cells)

Definition at line 455 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeEntropy(), and mrpt::apps::RBPF_SLAM_App_Base::run().