MRPT  1.9.9
CObservation2DRangeScanWithUncertainty.h
Go to the documentation of this file.
1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
13 
14 namespace mrpt::obs
15 {
16 /** A 2D range scan plus an uncertainty model for each range.
17  * \sa mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()
18  */
20 {
21  public:
22  /** The observation with the mean ranges in the scan field */
24  /** The same ranges than in rangeScan.scan[], for convenience as a math
25  * vector container, and with `double` precision */
27  /** The covariance matrix for all the ranges in rangeScan.scan[] */
29 
30  struct TEvalParams
31  {
32  /** (Default: 0.5) Probability of having an outlier (dynamic obstacles,
33  * not mapped) in each scan ray. */
34  double prob_outliers{0.5};
35  /** (Default: 0.3) Conditional probability: how many of the "no return"
36  * ranges come from a failure to detect a real obstacle. */
37  double prob_lost_ray{0.3};
38  /** (Default: 1.0m) Maximum std deviation of overall uncertainty for a
39  * range prediction to be considered as reliable for evaluation */
41  /** (Default: -20) Minimum log-likelihood of a single ray */
42  double min_ray_log_lik{-20.0};
43 
44  TEvalParams();
45  };
46 
47  /** Returns a measure of the likelihood of a given scan, compared to this
48  * scan variances */
50  const CObservation2DRangeScan& otherScan,
51  const TEvalParams& params) const;
52 };
53 
54 } // namespace mrpt::obs
A 2D range scan plus an uncertainty model for each range.
double prob_lost_ray
(Default: 0.3) Conditional probability: how many of the "no return" ranges come from a failure to det...
CObservation2DRangeScan rangeScan
The observation with the mean ranges in the scan field.
double prob_outliers
(Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray...
mrpt::math::CVectorDouble rangesMean
The same ranges than in rangeScan.scan[], for convenience as a math vector container, and with double precision.
This namespace contains representation of robot actions and observations.
double evaluateScanLikelihood(const CObservation2DRangeScan &otherScan, const TEvalParams &params) const
Returns a measure of the likelihood of a given scan, compared to this scan variances.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
double max_prediction_std_dev
(Default: 1.0m) Maximum std deviation of overall uncertainty for a range prediction to be considered ...
mrpt::math::CMatrixDouble rangesCovar
The covariance matrix for all the ranges in rangeScan.scan[].
double min_ray_log_lik
(Default: -20) Minimum log-likelihood of a single ray
GLenum const GLfloat * params
Definition: glext.h:3538



Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: 1de0e027c Sat Sep 14 16:15:22 2019 +0200 at sáb sep 14 16:20:14 CEST 2019