MRPT  1.9.9
COccupancyGridMap3D_likelihood.cpp
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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 
10 #include "maps-precomp.h" // Precomp header
11 
15 
16 using namespace mrpt::maps;
17 
19  const mrpt::obs::CObservation& obs, const mrpt::poses::CPose3D& takenFrom3D)
20 {
21  THROW_EXCEPTION("Implement me!");
22  return .0;
23 }
24 
26  const mrpt::obs::CObservation& obs) const
27 {
28  if (auto* o = dynamic_cast<const mrpt::obs::CObservation2DRangeScan*>(&obs);
29  o != nullptr)
30  {
31  return true;
32  }
33 
34  return false;
35 }
36 
38  const mrpt::config::CConfigFileBase& iniFile, const std::string& section)
39 {
43  MRPT_LOAD_CONFIG_VAR(decimation, int, iniFile, section);
44 }
45 
48 {
50  maxDistanceInsertion,
51  "Largest distance at which voxels are updated (Default: 15 meters)");
53  maxOccupancyUpdateCertainty,
54  "A value in the range [0.5,1] used for updating voxel with a Bayesian "
55  "approach (default 0.65)");
57  maxFreenessUpdateCertainty,
58  "A value in the range [0.5,1] for updating a free voxel. (default=0 "
59  "means use the same than maxOccupancyUpdateCertainty)");
61  decimation,
62  "Specify the decimation of the range scan (default=1: take all)");
63 }
bool internal_canComputeObservationLikelihood(const mrpt::obs::CObservation &obs) const override
Internal method called by canComputeObservationLikelihood()
#define THROW_EXCEPTION(msg)
Definition: exceptions.h:67
void saveToConfigFile(mrpt::config::CConfigFileBase &target, const std::string &section) const override
This method saves the options to a ".ini"-like file or memory-stored string list. ...
uint16_t decimation
Decimation for insertPointCloud() or 2D range scans (Default: 1)
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
This method load the options from a ".ini" file.
GLdouble s
Definition: glext.h:3682
This class allows loading and storing values and vectors of different types from a configuration text...
double internal_computeObservationLikelihood(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
Internal method called by computeObservationLikelihood()
const GLubyte * c
Definition: glext.h:6406
float maxDistanceInsertion
Largest distance at which voxels are updated (Default: 15 meters)
string iniFile(myDataDir+string("benchmark-options.ini"))
GLsizei const GLchar ** string
Definition: glext.h:4116
float maxFreenessUpdateCertainty
A value in the range [0.5,1] for updating a free voxel.
#define MRPT_LOAD_CONFIG_VAR( variableName, variableType, configFileObject, sectionNameStr)
An useful macro for loading variables stored in a INI-like file under a key with the same name that t...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:85
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
float maxOccupancyUpdateCertainty
A value in the range [0.5,1] used for updating voxel with a Bayesian approach (default 0...
#define MRPT_SAVE_CONFIG_VAR_COMMENT(variableName, __comment)



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