The grid cell's model presented in the original tinySLAM paper. More...
#include <tiny_grid_cells.h>
Inheritance diagram for BaseTinyCell:
Public Member Functions | |
| BaseTinyCell () | |
| void | set_value (const Occupancy &value, double quality) override |
| double | value () const override |
Private Attributes | |
| double | _prob |
Detailed Description
The grid cell's model presented in the original tinySLAM paper.
The probability is updated by the following rule:
![\[p_i=(1-\alpha)\cdot p_{i-1}+\alpha\cdot p_{new}.\]](form_2.png)
Definition at line 26 of file tiny_grid_cells.h.
Constructor & Destructor Documentation
| BaseTinyCell::BaseTinyCell | ( | ) | [inline] |
Sets the value of the probability 
.
Definition at line 31 of file tiny_grid_cells.h.
Member Function Documentation
| void BaseTinyCell::set_value | ( | const Occupancy & | value, |
| double | quality | ||
| ) | [inline, override, virtual] |
Merges a given probability with the stored one using a quality as a weight.
- Parameters:
-
[in] value - a value of the probability 
. [in] quality - the quality of the experiment value 
.
Implements GridCell.
Definition at line 41 of file tiny_grid_cells.h.
| double BaseTinyCell::value | ( | ) | const [inline, override, virtual] |
Returns the estimated probability.
Implements GridCell.
Definition at line 35 of file tiny_grid_cells.h.
Member Data Documentation
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: