mrpt::obs::CObservation2DRangeScanWithUncertainty Class Reference

Detailed Description

A 2D range scan plus an uncertainty model for each range.

See also

mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()

Definition at line 19 of file CObservation2DRangeScanWithUncertainty.h.

#include <mrpt/obs/CObservation2DRangeScanWithUncertainty.h>

Classes
struct	TEvalParams

Public Member Functions
double	evaluateScanLikelihood (const CObservation2DRangeScan &otherScan, const TEvalParams &params) const
	Returns a measure of the likelihood of a given scan, compared to this scan variances. More...

Public Attributes
CObservation2DRangeScan	rangeScan
	The observation with the mean ranges in the scan field. More...
mrpt::math::CVectorDouble	rangesMean
	The same ranges than in rangeScan.getScanRange(), for convenience as a math vector container, and with double precision. More...
mrpt::math::CMatrixDouble	rangesCovar
	The covariance matrix for all the ranges in rangeScan.getScanRange() More...

Member Function Documentation

evaluateScanLikelihood()

double CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood	(	const CObservation2DRangeScan &	otherScan,
		const TEvalParams &	params
	)		const

Returns a measure of the likelihood of a given scan, compared to this scan variances.

Definition at line 21 of file CObservation2DRangeScanWithUncertainty.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::obs::CObservation2DRangeScan::getScanRange(), mrpt::obs::CObservation2DRangeScan::getScanRangeValidity(), mrpt::obs::CObservation2DRangeScan::getScanSize(), mrpt::obs::CObservation2DRangeScan::maxRange, params, rangesCovar, rangesMean, mrpt::math::CMatrixDynamic< T >::rows(), mrpt::math::CVectorDynamic< T >::size(), mrpt::square(), and mrpt::obs::CObservation2DRangeScan::stdError.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization().

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Member Data Documentation

rangeScan

CObservation2DRangeScan mrpt::obs::CObservation2DRangeScanWithUncertainty::rangeScan

The observation with the mean ranges in the scan field.

Definition at line 23 of file CObservation2DRangeScanWithUncertainty.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

rangesCovar

mrpt::math::CMatrixDouble mrpt::obs::CObservation2DRangeScanWithUncertainty::rangesCovar

The covariance matrix for all the ranges in rangeScan.getScanRange()

Definition at line 28 of file CObservation2DRangeScanWithUncertainty.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), evaluateScanLikelihood(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

rangesMean

mrpt::math::CVectorDouble mrpt::obs::CObservation2DRangeScanWithUncertainty::rangesMean

The same ranges than in rangeScan.getScanRange(), for convenience as a math vector container, and with double precision.

Definition at line 26 of file CObservation2DRangeScanWithUncertainty.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), evaluateScanLikelihood(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().