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CObservation2DRangeScanWithUncertainty.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef CObservation2DRangeScanWithUncertainty_H
10#define CObservation2DRangeScanWithUncertainty_H
11
13#include <vector>
14
15namespace mrpt
16{
17namespace obs
18{
19 /** A 2D range scan plus an uncertainty model for each range.
20 * \sa mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()
21 */
23 {
24 public:
25 CObservation2DRangeScan rangeScan; //!< The observation with the mean ranges in the scan field
26 Eigen::VectorXd rangesMean; //!< The same ranges than in rangeScan.scan[], for convenience as an Eigen container, and with `double` precision
27 Eigen::MatrixXd rangesCovar; //!< The covariance matrix for all the ranges in rangeScan.scan[]
28
30 {
31 double prob_outliers; //!< (Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray.
32 double prob_lost_ray; //!< (Default: 0.3) Conditional probability: how many of the "no return" ranges come from a failure to detect a real obstacle.
33 double max_prediction_std_dev; //!< (Default: 1.0m) Maximum std deviation of overall uncertainty for a range prediction to be considered as reliable for evaluation
34
36 };
37
38 /** Returns a measure of the likelihood of a given scan, compared to this scan variances */
39 double evaluateScanLikelihood(const CObservation2DRangeScan& otherScan, const TEvalParams &params) const;
40 };
41
42} // End of namespace
43} // End of namespace
44#endif
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
A 2D range scan plus an uncertainty model for each range.
Eigen::VectorXd rangesMean
The same ranges than in rangeScan.scan[], for convenience as an Eigen container, and with double prec...
double evaluateScanLikelihood(const CObservation2DRangeScan &otherScan, const TEvalParams &params) const
Returns a measure of the likelihood of a given scan, compared to this scan variances.
CObservation2DRangeScan rangeScan
The observation with the mean ranges in the scan field.
Eigen::MatrixXd rangesCovar
The covariance matrix for all the ranges in rangeScan.scan[].
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
double prob_lost_ray
(Default: 0.3) Conditional probability: how many of the "no return" ranges come from a failure to det...
double max_prediction_std_dev
(Default: 1.0m) Maximum std deviation of overall uncertainty for a range prediction to be considered ...
double prob_outliers
(Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray.



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