bbf.h
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2018, the neonavigation authors
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of the copyright holder nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  */
29 
30 #ifndef PLANNER_CSPACE_BBF_H
31 #define PLANNER_CSPACE_BBF_H
32 
33 namespace planner_cspace
34 {
35 namespace bbf
36 {
37 constexpr float oddsToProbability(const float& o)
38 {
39  return o / (1.0 + o);
40 }
41 
42 constexpr float probabilityToOdds(const float& p)
43 {
44  return p / (1.0 - p);
45 }
46 
47 const float MIN_PROBABILITY = 0.1;
48 const float MAX_PROBABILITY = 1.0 - MIN_PROBABILITY;
49 const float MIN_ODDS = probabilityToOdds(MIN_PROBABILITY);
50 const float MAX_ODDS = probabilityToOdds(MAX_PROBABILITY);
51 
53 {
54 protected:
55  float odds_;
56 
57 public:
59  const float& initial_odds = 1.0) noexcept
60  : odds_(initial_odds)
61  {
62  }
63  float update(const float& odds)
64  {
65  odds_ *= odds;
66  if (odds_ < MIN_ODDS)
67  odds_ = MIN_ODDS;
68  else if (odds_ > MAX_ODDS)
69  odds_ = MAX_ODDS;
70  return odds_;
71  }
72  float get() const
73  {
74  return odds_;
75  }
76  float getProbability() const
77  {
78  return oddsToProbability(odds_);
79  }
81  {
82  return (getProbability() - MIN_PROBABILITY) / (MAX_PROBABILITY - MIN_PROBABILITY);
83  }
84 };
85 }; // namespace bbf
86 } // namespace planner_cspace
87 
88 #endif // PLANNER_CSPACE_BBF_H
float update(const float &odds)
Definition: bbf.h:63
const float MIN_PROBABILITY
Definition: bbf.h:47
constexpr float oddsToProbability(const float &o)
Definition: bbf.h:37
BinaryBayesFilter(const float &initial_odds=1.0) noexcept
Definition: bbf.h:58
const float MAX_ODDS
Definition: bbf.h:50
const float MAX_PROBABILITY
Definition: bbf.h:48
float getNormalizedProbability() const
Definition: bbf.h:80
constexpr float probabilityToOdds(const float &p)
Definition: bbf.h:42
const float MIN_ODDS
Definition: bbf.h:49


planner_cspace
Author(s): Atsushi Watanabe
autogenerated on Wed May 12 2021 02:20:42