Function lanelet::matching::utils::getMahalanobisDistSq

Function Documentation

double lanelet::matching::utils::getMahalanobisDistSq(const ConstLanelet &lanelet, const ObjectWithCovariance2d &obj)

Compute squared mahalanobis distance based on pose and covariance, hull is not used.

see D. Petrich, T. Dang, D. Kasper, G. Breuel and C. Stiller, “Map-based long term motion prediction for vehicles in traffic environments,” 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013), The Hague, 2013, pp. 2166-2172. doi: 10.1109/ITSC.2013.6728549 https://ieeexplore.ieee.org/document/6728549

uses approximation orientationCovariance = 1./obj.vonMisesKappa

Throws:

MatchingError – if the orientationCovarianceRadians or the determinant of the position covariance is zero