MRPT  2.0.4
CObservation2DRangeScanWithUncertainty.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
13 
14 namespace mrpt::obs
15 {
16 /** A 2D range scan plus an uncertainty model for each range.
17  * \sa mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()
18  */
20 {
21  public:
22  /** The observation with the mean ranges in the scan field */
24  /** The same ranges than in rangeScan.getScanRange(), for convenience as a
25  * math vector container, and with `double` precision */
27  /** The covariance matrix for all the ranges in rangeScan.getScanRange() */
29 
30  struct TEvalParams
31  {
32  /** (Default: 0.5) Probability of having an outlier (dynamic obstacles,
33  * not mapped) in each scan ray. */
34  double prob_outliers{0.5};
35  /** (Default: 0.3) Conditional probability: how many of the "no return"
36  * ranges come from a failure to detect a real obstacle. */
37  double prob_lost_ray{0.3};
38  /** (Default: 1.0m) Maximum std deviation of overall uncertainty for a
39  * range prediction to be considered as reliable for evaluation */
41  /** (Default: -20) Minimum log-likelihood of a single ray */
42  double min_ray_log_lik{-20.0};
43 
44  TEvalParams();
45  };
46 
47  /** Returns a measure of the likelihood of a given scan, compared to this
48  * scan variances */
50  const CObservation2DRangeScan& otherScan,
51  const TEvalParams& params) const;
52 };
53 
54 } // namespace mrpt::obs
mrpt::obs::CObservation2DRangeScanWithUncertainty::TEvalParams::prob_outliers
double prob_outliers
(Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray.
Definition: CObservation2DRangeScanWithUncertainty.h:34
mrpt::obs::CObservation2DRangeScanWithUncertainty
A 2D range scan plus an uncertainty model for each range.
Definition: CObservation2DRangeScanWithUncertainty.h:19
mrpt::obs::CObservation2DRangeScan
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
Definition: CObservation2DRangeScan.h:54
mrpt::obs::CObservation2DRangeScanWithUncertainty::TEvalParams::min_ray_log_lik
double min_ray_log_lik
(Default: -20) Minimum log-likelihood of a single ray
Definition: CObservation2DRangeScanWithUncertainty.h:42
mrpt::obs::CObservation2DRangeScanWithUncertainty::TEvalParams
Definition: CObservation2DRangeScanWithUncertainty.h:30
mrpt::obs
This namespace contains representation of robot actions and observations.
Definition: CParticleFilter.h:17
mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood
double evaluateScanLikelihood(const CObservation2DRangeScan &otherScan, const TEvalParams &params) const
Returns a measure of the likelihood of a given scan, compared to this scan variances.
Definition: CObservation2DRangeScanWithUncertainty.cpp:21
CVectorDynamic.h
mrpt::obs::CObservation2DRangeScanWithUncertainty::rangesCovar
mrpt::math::CMatrixDouble rangesCovar
The covariance matrix for all the ranges in rangeScan.getScanRange()
Definition: CObservation2DRangeScanWithUncertainty.h:28
mrpt::obs::CObservation2DRangeScanWithUncertainty::TEvalParams::TEvalParams
TEvalParams()
mrpt::obs::CObservation2DRangeScanWithUncertainty::rangesMean
mrpt::math::CVectorDouble rangesMean
The same ranges than in rangeScan.getScanRange(), for convenience as a math vector container,...
Definition: CObservation2DRangeScanWithUncertainty.h:26
params
mrpt::vision::TStereoCalibParams params
Definition: chessboard_stereo_camera_calib_unittest.cpp:24
mrpt::math::CVectorDynamic< double >
mrpt::obs::CObservation2DRangeScanWithUncertainty::rangeScan
CObservation2DRangeScan rangeScan
The observation with the mean ranges in the scan field.
Definition: CObservation2DRangeScanWithUncertainty.h:23
mrpt::obs::CObservation2DRangeScanWithUncertainty::TEvalParams::max_prediction_std_dev
double max_prediction_std_dev
(Default: 1.0m) Maximum std deviation of overall uncertainty for a range prediction to be considered ...
Definition: CObservation2DRangeScanWithUncertainty.h:40
mrpt::math::CMatrixDynamic< double >
CObservation2DRangeScan.h
mrpt::obs::CObservation2DRangeScanWithUncertainty::TEvalParams::prob_lost_ray
double prob_lost_ray
(Default: 0.3) Conditional probability: how many of the "no return" ranges come from a failure to det...
Definition: CObservation2DRangeScanWithUncertainty.h:37



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