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 22 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...
Eigen::VectorXd	rangesMean
	The same ranges than in rangeScan.scan[], for convenience as an Eigen container, and with double precision. More...
Eigen::MatrixXd	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

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

Definition at line 25 of file CObservation2DRangeScanWithUncertainty.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::obs::CObservation2DRangeScan::maxRange, min, mrpt::obs::CObservation2DRangeScanWithUncertainty::TEvalParams::prob_outliers, rangesCovar, rangesMean, mrpt::obs::CObservation2DRangeScan::scan, mrpt::utils::ContainerReadOnlyProxyAccessor< STLCONTAINER >::size(), mrpt::mrpt::math::square(), mrpt::math::square(), mrpt::obs::CObservation2DRangeScan::stdError, and mrpt::obs::CObservation2DRangeScan::validRange.

Member Data Documentation

rangeScan

CObservation2DRangeScan mrpt::obs::CObservation2DRangeScanWithUncertainty::rangeScan

The observation with the mean ranges in the scan field.

Definition at line 25 of file CObservation2DRangeScanWithUncertainty.h.

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

rangesCovar

Eigen::MatrixXd mrpt::obs::CObservation2DRangeScanWithUncertainty::rangesCovar

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

Definition at line 27 of file CObservation2DRangeScanWithUncertainty.h.

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

rangesMean

Eigen::VectorXd mrpt::obs::CObservation2DRangeScanWithUncertainty::rangesMean

The same ranges than in rangeScan.scan[], for convenience as an Eigen container, and with double precision.

Definition at line 26 of file CObservation2DRangeScanWithUncertainty.h.

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