MRPT  1.9.9
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mrpt::obs::CObservation2DRangeScanWithUncertainty Class Reference

Detailed Description

A 2D range scan plus an uncertainty model for each range.

See also
mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()

Definition at line 19 of file CObservation2DRangeScanWithUncertainty.h.

#include <mrpt/obs/CObservation2DRangeScanWithUncertainty.h>

Classes

struct  TEvalParams
 

Public Member Functions

double evaluateScanLikelihood (const CObservation2DRangeScan &otherScan, const TEvalParams &params) const
 Returns a measure of the likelihood of a given scan, compared to this scan variances. More...
 

Public Attributes

CObservation2DRangeScan rangeScan
 The observation with the mean ranges in the scan field. More...
 
mrpt::math::CVectorDouble rangesMean
 The same ranges than in rangeScan.getScanRange(), for convenience as a math vector container, and with double precision. More...
 
mrpt::math::CMatrixDouble rangesCovar
 The covariance matrix for all the ranges in rangeScan.getScanRange() More...
 

Member Function Documentation

◆ evaluateScanLikelihood()

double CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood ( const CObservation2DRangeScan otherScan,
const TEvalParams params 
) const

Returns a measure of the likelihood of a given scan, compared to this scan variances.

Definition at line 21 of file CObservation2DRangeScanWithUncertainty.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::obs::CObservation2DRangeScan::getScanRange(), mrpt::obs::CObservation2DRangeScan::getScanRangeValidity(), mrpt::obs::CObservation2DRangeScan::getScanSize(), mrpt::obs::CObservation2DRangeScan::maxRange, rangesCovar, rangesMean, mrpt::math::CMatrixDynamic< T >::rows(), mrpt::math::CVectorDynamic< T >::size(), mrpt::square(), and mrpt::obs::CObservation2DRangeScan::stdError.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization().

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Member Data Documentation

◆ rangeScan

CObservation2DRangeScan mrpt::obs::CObservation2DRangeScanWithUncertainty::rangeScan

◆ rangesCovar

mrpt::math::CMatrixDouble mrpt::obs::CObservation2DRangeScanWithUncertainty::rangesCovar

◆ rangesMean

mrpt::math::CVectorDouble mrpt::obs::CObservation2DRangeScanWithUncertainty::rangesMean

The same ranges than in rangeScan.getScanRange(), for convenience as a math vector container, and with double precision.

Definition at line 26 of file CObservation2DRangeScanWithUncertainty.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), evaluateScanLikelihood(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().




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