The grid cell's model presented in the original tinySLAM paper. More...

Inheritance diagram for BaseTinyCell:

Public Member Functions
	BaseTinyCell ()

void	set_value (const Occupancy &value, double quality) override

double	value () const override

Public Member Functions inherited from GridCell
virtual double	obst_x () const

virtual double	obst_y () const

Detailed Description

The grid cell's model presented in the original tinySLAM paper.

The probability is updated by the following rule:

$p_i=(1-\alpha)\cdot p_{i-1}+\alpha\cdot p_{new}.$

Definition at line 26 of file tiny_grid_cells.h.

Constructor & Destructor Documentation

BaseTinyCell::BaseTinyCell ( )

inline

Sets the value of the probability $p_0=0.5$ .

Definition at line 31 of file tiny_grid_cells.h.

inlineoverridevirtual

Merges a given probability with the stored one 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 41 of file tiny_grid_cells.h.

double BaseTinyCell::value ( ) const

inlineoverridevirtual

Returns the estimated probability.

Implements GridCell.

Definition at line 35 of file tiny_grid_cells.h.

double BaseTinyCell::_prob

private

Definition at line 45 of file tiny_grid_cells.h.

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