struct mrpt::maps::COccupancyGridMap2D::TEntropyInfo

Overview

Used for returning entropy related information.

See also:

#include <mrpt/maps/COccupancyGridMap2D.h>

struct TEntropyInfo
{
    // fields

    double H {0};
    double I {0};
    double mean_H {0};
    double mean_I {0};
    double effectiveMappedArea {0};
    unsigned long effectiveMappedCells {0};
};

Fields

double 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)) }

double I {0}

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

double mean_H {0}

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

double mean_I {0}

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

double effectiveMappedArea {0}

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

p(x)!=0.5

unsigned long effectiveMappedCells {0}

The mapped area in cells.