AreaOccupancyEstimator Class Reference

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

#include <area_occupancy_estimator.h>

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
Public Member Functions inherited from CellOccupancyEstimator
	CellOccupancyEstimator (double base_occ_prob, double base_empty_prob)

Private Types
using	Intersections = std::vector< Intersection >
enum	IntersLocation : char { IntersLocation::Bot = 0, IntersLocation::Left = 1, IntersLocation::Top = 2, IntersLocation::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)

Additional Inherited Members
Protected Member Functions inherited from CellOccupancyEstimator
double	base_empty_prob ()
	Returns the probability of being empty. More...
double	base_occ_prob ()
	Returns the probability of being occupied. More...

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 Typedef Documentation

using AreaOccupancyEstimator::Intersections = std::vector<Intersection>

private

Definition at line 34 of file area_occupancy_estimator.h.

Member Enumeration Documentation

enum AreaOccupancyEstimator::IntersLocation : char

strongprivate

Enumerator
Bot
Left
Top
Right

Definition at line 19 of file area_occupancy_estimator.h.

Constructor & Destructor Documentation

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.

Member Function Documentation

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  )

inlineprivate

Definition at line 170 of file area_occupancy_estimator.h.

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

inlineprivate

Definition at line 111 of file area_occupancy_estimator.h.

virtual Occupancy AreaOccupancyEstimator::estimate_occupancy ( const Beam &  beam, const Rectangle &  cell_bnds, bool  is_occ  )

inlineoverridevirtual

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

Implements CellOccupancyEstimator.

Definition at line 81 of file area_occupancy_estimator.h.

Occupancy AreaOccupancyEstimator::estimate_occupancy ( double  chunk_area, double  total_area, bool  is_occ  )

inlineprivate

Definition at line 178 of file area_occupancy_estimator.h.

Intersections AreaOccupancyEstimator::find_intersections ( const Beam &  beam, const Rectangle &  bnds, bool  is_occ  )

inlineprivate

Definition at line 90 of file area_occupancy_estimator.h.

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

• area_occupancy_estimator.h