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

Detailed Description

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

One static instance of this struct should exist in any class implementing CLogOddsGridMap2D to hold the Look-up-tables (LUTs) for log-odss Bayesian update.

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

• int8_t or
• int16_t

See also

CLogOddsGridMap2D, see derived classes for usage examples.

Definition at line 158 of file CLogOddsGridMap2D.h.

#include <mrpt/maps/CLogOddsGridMap2D.h>

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

Public Types
typedef TCELL	cell_t
	The type of. More...
typedef detail::logoddscell_traits< TCELL >	traits_t

Public Member Functions
	CLogOddsGridMapLUT ()
	Constructor: computes all the required stuff. More...
float	l2p (const cell_t l)
	Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l)) More...
uint8_t	l2p_255 (const cell_t l)
	Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l)) More...
cell_t	p2l (const float p)
	Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cell_t. More...

Public Attributes
std::vector< float >	logoddsTable
	A lookup table to compute occupancy probabilities in [0,1] from integer log-odds values in the cells, using . More...
std::vector< uint8_t >	logoddsTable_255
	A lookup table to compute occupancy probabilities in the range [0,255] from integer log-odds values in the cells, using . More...
std::vector< cell_t >	p2lTable
	A lookup table for passing from float to log-odds as cell_t. More...

Member Typedef Documentation

cell_t

template<typename TCELL >

typedef TCELL mrpt::maps::CLogOddsGridMapLUT< TCELL >::cell_t

The type of.

Definition at line 161 of file CLogOddsGridMap2D.h.

traits_t

template<typename TCELL >

typedef detail::logoddscell_traits<TCELL> mrpt::maps::CLogOddsGridMapLUT< TCELL >::traits_t

Definition at line 162 of file CLogOddsGridMap2D.h.

Constructor & Destructor Documentation

CLogOddsGridMapLUT()

template<typename TCELL >

mrpt::maps::CLogOddsGridMapLUT< TCELL >::CLogOddsGridMapLUT ( )

inline

Constructor: computes all the required stuff.

Definition at line 181 of file CLogOddsGridMap2D.h.

References mrpt::maps::CLogOddsGridMapLUT< TCELL >::logoddsTable, mrpt::maps::CLogOddsGridMapLUT< TCELL >::logoddsTable_255, mrpt::maps::CLogOddsGridMapLUT< TCELL >::p2lTable, and mrpt::utils::round().

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Member Function Documentation

l2p()

template<typename TCELL >

float mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p ( const cell_t  l )

inline

Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l))

Definition at line 221 of file CLogOddsGridMap2D.h.

References mrpt::maps::CLogOddsGridMapLUT< TCELL >::logoddsTable.

Referenced by mrpt::maps::CReflectivityGridMap2D::cell2float(), and mrpt::maps::CReflectivityGridMap2D::internal_computeObservationLikelihood().

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l2p_255()

template<typename TCELL >

uint8_t mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p_255 ( const cell_t  l )

inline

Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l))

Definition at line 233 of file CLogOddsGridMap2D.h.

References mrpt::maps::CLogOddsGridMapLUT< TCELL >::logoddsTable_255.

Referenced by mrpt::maps::CReflectivityGridMap2D::getAs3DObject(), and mrpt::maps::CReflectivityGridMap2D::getAsImage().

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p2l()

template<typename TCELL >

cell_t mrpt::maps::CLogOddsGridMapLUT< TCELL >::p2l ( const float  p )

inline

Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cell_t.

Definition at line 245 of file CLogOddsGridMap2D.h.

References mrpt::maps::CLogOddsGridMapLUT< TCELL >::p2lTable.

Referenced by mrpt::maps::CReflectivityGridMap2D::internal_clear(), and mrpt::maps::CReflectivityGridMap2D::internal_insertObservation().

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Member Data Documentation

logoddsTable

template<typename TCELL >

std::vector<float> mrpt::maps::CLogOddsGridMapLUT< TCELL >::logoddsTable

A lookup table to compute occupancy probabilities in [0,1] from integer log-odds values in the cells, using .

Definition at line 168 of file CLogOddsGridMap2D.h.

Referenced by mrpt::maps::CLogOddsGridMapLUT< TCELL >::CLogOddsGridMapLUT(), and mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p().

logoddsTable_255

template<typename TCELL >

std::vector<uint8_t> mrpt::maps::CLogOddsGridMapLUT< TCELL >::logoddsTable_255

A lookup table to compute occupancy probabilities in the range [0,255] from integer log-odds values in the cells, using .

This is used to speed-up conversions to grayscale images.

Definition at line 175 of file CLogOddsGridMap2D.h.

Referenced by mrpt::maps::CLogOddsGridMapLUT< TCELL >::CLogOddsGridMapLUT(), and mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p_255().

p2lTable

template<typename TCELL >

std::vector<cell_t> mrpt::maps::CLogOddsGridMapLUT< TCELL >::p2lTable

A lookup table for passing from float to log-odds as cell_t.

Definition at line 178 of file CLogOddsGridMap2D.h.

Referenced by mrpt::maps::CLogOddsGridMapLUT< TCELL >::CLogOddsGridMapLUT(), and mrpt::maps::CLogOddsGridMapLUT< TCELL >::p2l().