A strategy that estimates a grid cell's occupancy based on how a laser beam passes through the cell. More...

Inheritance diagram for AreaOccupancyEstimator:

Classes
struct	Intersection
struct	Ray
Public Member Functions
	AreaOccupancyEstimator (double occ, double empty)
virtual Occupancy	estimate_occupancy (const Beam &beam, const Rectangle &cell_bnds, bool is_occ) override
Private Types
enum	IntersLocation { Bot = 0, Left = 1, Top = 2, Right = 3 }
Private Member Functions
bool	are_on_the_same_side (double line_x1, double line_y1, double line_x2, double line_y2, double x1, double y1, double x2, double y2)
double	compute_chunk_area (const Beam &beam, const Rectangle &bnds, bool is_occ, const std::vector< Intersection > inters)
Occupancy	estimate_occupancy (double chunk_area, double total_area, bool is_occ)
Intersections	find_intersections (const Beam &beam, const Rectangle &bnds, bool is_occ)

Detailed Description

A strategy that estimates a grid cell's occupancy based on how a laser beam passes through the cell.

The estimation is based on a ratio between cell's chunks produced by cutting the cell with a laser beam.

Definition at line 17 of file area_occupancy_estimator.h.

Member Enumeration Documentation

Enumerator:

Definition at line 19 of file area_occupancy_estimator.h.

AreaOccupancyEstimator::AreaOccupancyEstimator	(	double	occ,
		double	empty
	)		`[inline]`

Initializes the estimator with base probabilities.

Parameters:

[in] occ,empty - base probabilities of occupied/empty cells.

Definition at line 75 of file area_occupancy_estimator.h.

bool AreaOccupancyEstimator::are_on_the_same_side	(	double	line_x1,
		double	line_y1,
		double	line_x2,
		double	line_y2,
		double	x1,
		double	y1,
		double	x2,
		double	y2
	)		`[inline, private]`

double AreaOccupancyEstimator::compute_chunk_area	(	const Beam &	beam,
		const Rectangle &	bnds,
		bool	is_occ,
		const std::vector< Intersection >	inters
	)		`[inline, private]`

virtual Occupancy AreaOccupancyEstimator::estimate_occupancy	(	const Beam &	beam,
		const Rectangle &	cell_bnds,
		bool	is_occ
	)		`[inline, override, virtual]`

Finds the probability of a cell to be occupied based on chunk's areas.

Definition at line 81 of file area_occupancy_estimator.h.

Occupancy AreaOccupancyEstimator::estimate_occupancy	(	double	chunk_area,
		double	total_area,
		bool	is_occ
	)		`[inline, private]`

Intersections AreaOccupancyEstimator::find_intersections	(	const Beam &	beam,
		const Rectangle &	bnds,
		bool	is_occ
	)		`[inline, private]`

Definition at line 90 of file area_occupancy_estimator.h.

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