mrpt::maps::CLogOddsGridMap3D< TCELL > Struct Template Reference

Detailed Description

template<typename TCELL>
struct mrpt::maps::CLogOddsGridMap3D< TCELL >

A generic provider of log-odds grid-map maintainance functions.

Map cells must be type TCELL, which can be only:

• int8_t or
• int16_t

See also

CLogOddsGridMapLUT, See derived classes for usage examples.

Definition at line 27 of file CLogOddsGridMap3D.h.

#include <mrpt/maps/CLogOddsGridMap3D.h>

Inheritance diagram for mrpt::maps::CLogOddsGridMap3D< TCELL >:

Public Types
using	cell_t = TCELL
	The type of cells. More...
using	traits_t = detail::logoddscell_traits< TCELL >
using	grid_t = mrpt::containers::CDynamicGrid3D< TCELL >

Public Member Functions
void	updateCell_fast_occupied (const unsigned x, const unsigned y, const unsigned z, const cell_t logodd_obs, const cell_t thres)
	Performs Bayesian fusion of a new observation of a cell. More...
void	updateCell_fast_free (const unsigned x, const unsigned y, const unsigned z, const cell_t logodd_obs, const cell_t thres)
	Performs the Bayesian fusion of a new observation of a cell. More...

Static Public Member Functions
static void	updateCell_fast_occupied (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
	Performs Bayesian fusion of a new observation of a cell. More...
static void	updateCell_fast_free (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
	Performs Bayesian fusion of a new observation of a cell. More...

Public Attributes
grid_t	m_grid
	The actual 3D voxels container. More...

Member Typedef Documentation

cell_t

template<typename TCELL>

using mrpt::maps::CLogOddsGridMap3D< TCELL >::cell_t = TCELL

The type of cells.

Definition at line 30 of file CLogOddsGridMap3D.h.

grid_t

template<typename TCELL>

using mrpt::maps::CLogOddsGridMap3D< TCELL >::grid_t = mrpt::containers::CDynamicGrid3D<TCELL>

Definition at line 32 of file CLogOddsGridMap3D.h.

traits_t

template<typename TCELL>

using mrpt::maps::CLogOddsGridMap3D< TCELL >::traits_t = detail::logoddscell_traits<TCELL>

Definition at line 31 of file CLogOddsGridMap3D.h.

Member Function Documentation

updateCell_fast_free() [1/2]

template<typename TCELL>

static void mrpt::maps::CLogOddsGridMap3D< TCELL >::updateCell_fast_free ( cell_t *  theCell, const cell_t  logodd_obs, const cell_t  thres  )

inlinestatic

Performs Bayesian fusion of a new observation of a cell.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters

logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MAX-logodd_obs

See also

updateCell_fast_occupied

Definition at line 83 of file CLogOddsGridMap3D.h.

Referenced by mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::updateCell_fast_free().

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updateCell_fast_free() [2/2]

template<typename TCELL>

void mrpt::maps::CLogOddsGridMap3D< TCELL >::updateCell_fast_free ( const unsigned  x, const unsigned  y, const unsigned  z, const cell_t  logodd_obs, const cell_t  thres  )

inline

Performs the Bayesian fusion of a new observation of a cell.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
z	Cell index in Z axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MAX-logodd_obs

See also

updateCell_fast_occupied

Definition at line 104 of file CLogOddsGridMap3D.h.

updateCell_fast_occupied() [1/2]

template<typename TCELL>

static void mrpt::maps::CLogOddsGridMap3D< TCELL >::updateCell_fast_occupied ( cell_t *  theCell, const cell_t  logodd_obs, const cell_t  thres  )

inlinestatic

Performs Bayesian fusion of a new observation of a cell.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters

theCell	The cell to modify
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MIN+logodd_obs

See also

updateCell, updateCell_fast_free

Definition at line 46 of file CLogOddsGridMap3D.h.

Referenced by mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::updateCell_fast_occupied().

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updateCell_fast_occupied() [2/2]

template<typename TCELL>

void mrpt::maps::CLogOddsGridMap3D< TCELL >::updateCell_fast_occupied ( const unsigned  x, const unsigned  y, const unsigned  z, const cell_t  logodd_obs, const cell_t  thres  )

inline

Performs Bayesian fusion of a new observation of a cell.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
z	Cell index in Z axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MIN+logodd_obs

See also

updateCell, updateCell_fast_free

Definition at line 67 of file CLogOddsGridMap3D.h.

Member Data Documentation

m_grid

template<typename TCELL>

grid_t mrpt::maps::CLogOddsGridMap3D< TCELL >::m_grid

The actual 3D voxels container.

Definition at line 35 of file CLogOddsGridMap3D.h.

Referenced by mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::updateCell_fast_free(), and mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::updateCell_fast_occupied().