MRPT  1.9.9
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mrpt::maps::CLogOddsGridMap3D< TCELL > Struct Template Reference

Detailed Description

template<typename TCELL>
struct mrpt::maps::CLogOddsGridMap3D< TCELL >

A generic provider of log-odds grid-map maintainance functions.

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

See also
CLogOddsGridMapLUT, See derived classes for usage examples.

Definition at line 27 of file CLogOddsGridMap3D.h.

#include <mrpt/maps/CLogOddsGridMap3D.h>

Inheritance diagram for mrpt::maps::CLogOddsGridMap3D< TCELL >:

Public Types

using cell_t = TCELL
 The type of cells. More...
 
using traits_t = detail::logoddscell_traits< TCELL >
 
using grid_t = mrpt::containers::CDynamicGrid3D< TCELL >
 

Public Member Functions

void updateCell_fast_occupied (const unsigned x, const unsigned y, const unsigned z, const cell_t logodd_obs, const cell_t thres)
 Performs Bayesian fusion of a new observation of a cell. More...
 
void updateCell_fast_free (const unsigned x, const unsigned y, const unsigned z, const cell_t logodd_obs, const cell_t thres)
 Performs the Bayesian fusion of a new observation of a cell. More...
 

Static Public Member Functions

static void updateCell_fast_occupied (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
 Performs Bayesian fusion of a new observation of a cell. More...
 
static void updateCell_fast_free (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
 Performs Bayesian fusion of a new observation of a cell. More...
 

Public Attributes

grid_t m_grid
 The actual 3D voxels container. More...
 

Member Typedef Documentation

◆ cell_t

template<typename TCELL>
using mrpt::maps::CLogOddsGridMap3D< TCELL >::cell_t = TCELL

The type of cells.

Definition at line 30 of file CLogOddsGridMap3D.h.

◆ grid_t

template<typename TCELL>
using mrpt::maps::CLogOddsGridMap3D< TCELL >::grid_t = mrpt::containers::CDynamicGrid3D<TCELL>

Definition at line 32 of file CLogOddsGridMap3D.h.

◆ traits_t

template<typename TCELL>
using mrpt::maps::CLogOddsGridMap3D< TCELL >::traits_t = detail::logoddscell_traits<TCELL>

Definition at line 31 of file CLogOddsGridMap3D.h.

Member Function Documentation

◆ updateCell_fast_free() [1/2]

template<typename TCELL>
static void mrpt::maps::CLogOddsGridMap3D< TCELL >::updateCell_fast_free ( cell_t theCell,
const cell_t  logodd_obs,
const cell_t  thres 
)
inlinestatic

Performs Bayesian fusion of a new observation of a cell.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be CELLTYPE_MAX-logodd_obs
See also
updateCell_fast_occupied

Definition at line 83 of file CLogOddsGridMap3D.h.

Referenced by mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::updateCell_fast_free().

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◆ updateCell_fast_free() [2/2]

template<typename TCELL>
void mrpt::maps::CLogOddsGridMap3D< TCELL >::updateCell_fast_free ( const unsigned  x,
const unsigned  y,
const unsigned  z,
const cell_t  logodd_obs,
const cell_t  thres 
)
inline

Performs the Bayesian fusion of a new observation of a cell.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters
xCell index in X axis.
yCell index in Y axis.
zCell index in Z axis.
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be CELLTYPE_MAX-logodd_obs
See also
updateCell_fast_occupied

Definition at line 104 of file CLogOddsGridMap3D.h.

◆ updateCell_fast_occupied() [1/2]

template<typename TCELL>
static void mrpt::maps::CLogOddsGridMap3D< TCELL >::updateCell_fast_occupied ( cell_t theCell,
const cell_t  logodd_obs,
const cell_t  thres 
)
inlinestatic

Performs Bayesian fusion of a new observation of a cell.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters
theCellThe cell to modify
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be CELLTYPE_MIN+logodd_obs
See also
updateCell, updateCell_fast_free

Definition at line 46 of file CLogOddsGridMap3D.h.

Referenced by mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::updateCell_fast_occupied().

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◆ updateCell_fast_occupied() [2/2]

template<typename TCELL>
void mrpt::maps::CLogOddsGridMap3D< TCELL >::updateCell_fast_occupied ( const unsigned  x,
const unsigned  y,
const unsigned  z,
const cell_t  logodd_obs,
const cell_t  thres 
)
inline

Performs Bayesian fusion of a new observation of a cell.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters
xCell index in X axis.
yCell index in Y axis.
zCell index in Z axis.
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be CELLTYPE_MIN+logodd_obs
See also
updateCell, updateCell_fast_free

Definition at line 67 of file CLogOddsGridMap3D.h.

Member Data Documentation

◆ m_grid

template<typename TCELL>
grid_t mrpt::maps::CLogOddsGridMap3D< TCELL >::m_grid



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