octomap_utils.h
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1 /*
2  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
3  * http://octomap.github.com/
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5  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
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33 
34 #ifndef OCTOMAP_UTILS_H_
35 #define OCTOMAP_UTILS_H_
36 
37 #include <math.h>
38 
39 namespace octomap{
40 
42  inline float logodds(double probability){
43  return (float) log(probability/(1-probability));
44  }
45 
47  inline double probability(double logodds){
48  return 1. - ( 1. / (1. + exp(logodds)));
49 
50  }
51 }
52 
53 
54 
55 #endif /* OCTOMAP_UTILS_H_ */
double probability(double logodds)
compute probability from logodds:
Definition: octomap_utils.h:47
float logodds(double probability)
compute log-odds from probability:
Definition: octomap_utils.h:42


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Fri Jun 7 2019 21:17:32