The grid cell's model updates probabilities as an average value. More...

Inheritance diagram for AvgTinyCell:

Public Member Functions
	AvgTinyCell ()
void	set_value (const Occupancy &value, double quality) override
double	value () const override
Private Attributes
double	_cnt
double	_n

Detailed Description

The grid cell's model updates probabilities as an average value.

The probability is updated by the following rule:

$p_n=\frac{p_{n-1}+0.5+(p_{new}-0.5)\cdot\alpha}{n}.$

Definition at line 73 of file tiny_grid_cells.h.

Constructor & Destructor Documentation

AvgTinyCell::AvgTinyCell ( ) [inline]

Sets the values of the probability $p_0=0$ and $n=0$ .

Definition at line 78 of file tiny_grid_cells.h.

Merges a given probability with the stored one as an average value of all given probabilities also using a quality as a weight.

Parameters:

[in]	value	- a value of the probability $p_{new}$ .
[in]	quality	- the quality of the experiment value $\alpha$ .

Implements GridCell.

Definition at line 89 of file tiny_grid_cells.h.

double AvgTinyCell::value ( ) const [inline, override, virtual]

Returns the estimated probability.

Implements GridCell.

Definition at line 82 of file tiny_grid_cells.h.

double AvgTinyCell::_cnt [private]

Definition at line 94 of file tiny_grid_cells.h.

double AvgTinyCell::_n [private]

Definition at line 94 of file tiny_grid_cells.h.

The documentation for this class was generated from the following file: