ScanProbabilityEstimator Class Reference

#include <grid_scan_matcher.h>

Inheritance diagram for ScanProbabilityEstimator:

Classes
struct	SPEParams

Public Types
using	OOPE = std::shared_ptr< OccupancyObservationProbabilityEstimator >

Public Member Functions
double	estimate_scan_probability (const LaserScan2D &scan, const RobotPose &pose, const GridMap &map) const
virtual double	estimate_scan_probability (const LaserScan2D &scan, const RobotPose &pose, const GridMap &map, const SPEParams &params) const =0
virtual LaserScan2D	filter_scan (const LaserScan2D &scan, const RobotPose &, const GridMap &)
double	occupancy_observation_probability (const AreaOccupancyObservation &aoo, const LightWeightRectangle &area, const GridMap &map) const
OOPE	occupancy_observation_probability_estimator () const
	ScanProbabilityEstimator (OOPE oope)
void	set_oope (OOPE occ_obs_prob_est)
virtual	~ScanProbabilityEstimator ()=default

Static Public Member Functions
static bool	is_prob_unknown (double probability)
static constexpr double	unknown_probability ()

Private Attributes
OOPE	_oope

Detailed Description

Definition at line 50 of file grid_scan_matcher.h.

Member Typedef Documentation

using ScanProbabilityEstimator::OOPE = std::shared_ptr<OccupancyObservationProbabilityEstimator>

Definition at line 57 of file grid_scan_matcher.h.

Constructor & Destructor Documentation

ScanProbabilityEstimator::ScanProbabilityEstimator ( OOPE  oope )

inline

Definition at line 59 of file grid_scan_matcher.h.

virtual ScanProbabilityEstimator::~ScanProbabilityEstimator ( )

virtualdefault

Member Function Documentation

double ScanProbabilityEstimator::estimate_scan_probability ( const LaserScan2D &  scan, const RobotPose &  pose, const GridMap &  map  ) const

inline

Definition at line 83 of file grid_scan_matcher.h.

virtual double ScanProbabilityEstimator::estimate_scan_probability ( const LaserScan2D &  scan, const RobotPose &  pose, const GridMap &  map, const SPEParams &  params  ) const

pure virtual

Implemented in WeightedMeanPointProbabilitySPE.

virtual LaserScan2D ScanProbabilityEstimator::filter_scan ( const LaserScan2D &  scan, const RobotPose &  , const GridMap &    )

inlinevirtual

Reimplemented in WeightedMeanPointProbabilitySPE.

Definition at line 78 of file grid_scan_matcher.h.

static bool ScanProbabilityEstimator::is_prob_unknown ( double  probability )

inlinestatic

Definition at line 65 of file grid_scan_matcher.h.

double ScanProbabilityEstimator::occupancy_observation_probability ( const AreaOccupancyObservation &  aoo, const LightWeightRectangle &  area, const GridMap &  map  ) const

inline

Definition at line 72 of file grid_scan_matcher.h.

OOPE ScanProbabilityEstimator::occupancy_observation_probability_estimator ( ) const

inline

Definition at line 69 of file grid_scan_matcher.h.

void ScanProbabilityEstimator::set_oope ( OOPE  occ_obs_prob_est )

inline

Definition at line 70 of file grid_scan_matcher.h.

static constexpr double ScanProbabilityEstimator::unknown_probability ( )

inlinestatic

Definition at line 61 of file grid_scan_matcher.h.

Member Data Documentation

OOPE ScanProbabilityEstimator::_oope

private

Definition at line 96 of file grid_scan_matcher.h.

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

• grid_scan_matcher.h