MRPT  1.9.9
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.scan[], 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.scan[]. More...
 

Member Function Documentation

◆ evaluateScanLikelihood()

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

Member Data Documentation

◆ rangeScan

CObservation2DRangeScan mrpt::obs::CObservation2DRangeScanWithUncertainty::rangeScan

The observation with the mean ranges in the scan field.

Definition at line 23 of file CObservation2DRangeScanWithUncertainty.h.

Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

◆ rangesCovar

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

The covariance matrix for all the ranges in rangeScan.scan[].

Definition at line 28 of file CObservation2DRangeScanWithUncertainty.h.

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

◆ rangesMean

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

The same ranges than in rangeScan.scan[], for convenience as a math vector container, and with double precision.

Definition at line 26 of file CObservation2DRangeScanWithUncertainty.h.

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




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