#include <filters.hpp>

Inheritance diagram for mitre_fast_layered_map::BayesUpdate:

Public Member Functions
	BayesUpdate ()

virtual bool	configure ()

double	dynamicSenseOccGivenEmp (int numHits)

double	dynamicSenseOccGivenOcc (int numHits)

virtual bool	update (const grid_map::GridMap &_mapIn, grid_map::GridMap &_mapOut)

virtual	~BayesUpdate ()

Public Member Functions inherited from filters::FilterBase< grid_map::GridMap >
bool	configure (const std::string &param_name, ros::NodeHandle node_handle=ros::NodeHandle())

bool	configure (XmlRpc::XmlRpcValue &config)

	FilterBase ()

const std::string &	getName ()

std::string	getType ()

virtual	~FilterBase ()

Private Attributes
int	historyCount_
	Num history layers use. More...

std::string	historyLayerPrefix_
	Prefix for historys layers. Should follow prefix + (int) i standard. More...

std::string	probabilityLayerStr_
	Layer that holds accumulated probability until now. More...

double	probSenseEmpGivenEmp_ {0.8}

double	probSenseEmpGivenOcc_ {0.4}

double	probSenseOccGivenEmpOffset_ {0.3}

double	probSenseOccGivenEmpRate_ {-0.1}

double	probSenseOccGivenOccOffset_ {0.3}

double	probSenseOccGivenOccRate_ {0.1}

double	startingProb_ {0.5}

Additional Inherited Members
Protected Member Functions inherited from filters::FilterBase< grid_map::GridMap >
bool	getParam (const std::string &name, std::string &value)

bool	getParam (const std::string &name, XmlRpc::XmlRpcValue &value)

bool	getParam (const std::string &name, double &value)

bool	getParam (const std::string &name, std::vector< double > &value)

bool	getParam (const std::string &name, unsigned int &value)

bool	getParam (const std::string &name, int &value)

bool	getParam (const std::string &name, std::vector< std::string > &value)

bool	getParam (const std::string &name, bool &value)

bool	loadConfiguration (XmlRpc::XmlRpcValue &config)

Protected Attributes inherited from filters::FilterBase< grid_map::GridMap >
bool	configured_

std::string	filter_name_

std::string	filter_type_

string_map_t	params_

Detailed Description

Definition at line 107 of file filters.hpp.

Constructor & Destructor Documentation

mitre_fast_layered_map::BayesUpdate::BayesUpdate ( )

Definition at line 16 of file bayes_update.cpp.

mitre_fast_layered_map::BayesUpdate::~BayesUpdate ( )

virtual

Definition at line 20 of file bayes_update.cpp.

Member Function Documentation

bool mitre_fast_layered_map::BayesUpdate::configure ( )

virtual

Implements filters::FilterBase< grid_map::GridMap >.

Definition at line 24 of file bayes_update.cpp.

double mitre_fast_layered_map::BayesUpdate::dynamicSenseOccGivenEmp ( int numHits )

Opposite of previous function. We lose confidence that a cell is empty occupied as the number of readings increases y = -0.1 * readings + 0.3

Definition at line 204 of file bayes_update.cpp.

double mitre_fast_layered_map::BayesUpdate::dynamicSenseOccGivenOcc ( int numHits )

: Make this customizable to allow for other sensor architectures This and the function below can be thought of a bit like a modified RELU function. Using this function we can dynamically modify our confidence in our sensor readings based on the number of points that were sensed in a given cell. y = 0.05 * readings + 0.5 - line formula 0.99 is max confidence of obstacle we will allow

Definition at line 194 of file bayes_update.cpp.

bool mitre_fast_layered_map::BayesUpdate::update	(	const grid_map::GridMap &	_mapIn,
		grid_map::GridMap &	_mapOut
	)

virtual

Updates the probability that a cell is occupied Algorithm found in https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=30720 : This function can probably be vectorized for performance gains

Implements filters::FilterBase< grid_map::GridMap >.

Definition at line 98 of file bayes_update.cpp.

Member Data Documentation

int mitre_fast_layered_map::BayesUpdate::historyCount_

private

Num history layers use.

Definition at line 124 of file filters.hpp.

std::string mitre_fast_layered_map::BayesUpdate::historyLayerPrefix_

private

Prefix for historys layers. Should follow prefix + (int) i standard.

Definition at line 123 of file filters.hpp.

std::string mitre_fast_layered_map::BayesUpdate::probabilityLayerStr_

private

Layer that holds accumulated probability until now.

Definition at line 122 of file filters.hpp.

double mitre_fast_layered_map::BayesUpdate::probSenseEmpGivenEmp_ {0.8}

private

Definition at line 128 of file filters.hpp.

double mitre_fast_layered_map::BayesUpdate::probSenseEmpGivenOcc_ {0.4}

private

Definition at line 127 of file filters.hpp.

double mitre_fast_layered_map::BayesUpdate::probSenseOccGivenEmpOffset_ {0.3}

private

Definition at line 132 of file filters.hpp.

double mitre_fast_layered_map::BayesUpdate::probSenseOccGivenEmpRate_ {-0.1}

private

Definition at line 131 of file filters.hpp.

double mitre_fast_layered_map::BayesUpdate::probSenseOccGivenOccOffset_ {0.3}

private

Definition at line 130 of file filters.hpp.

double mitre_fast_layered_map::BayesUpdate::probSenseOccGivenOccRate_ {0.1}

private

Definition at line 129 of file filters.hpp.

double mitre_fast_layered_map::BayesUpdate::startingProb_ {0.5}

private

Definition at line 126 of file filters.hpp.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation