beluga::LikelihoodFieldModel< OccupancyGrid > Class Template Reference

Likelihood field sensor model for range finders. More...

#include <likelihood_field_model.hpp>

Public Types
using	map_type = OccupancyGrid
	Map representation type. More...
using	measurement_type = std::vector< std::pair< double, double > >
	Measurement type of the sensor: a point cloud for the range finder. More...
using	param_type = LikelihoodFieldModelParam
	Parameter type that the constructor uses to configure the likelihood field model. More...
using	state_type = Sophus::SE2d
	State type of a particle. More...
using	weight_type = double
	Weight type of the particle. More...

Public Member Functions
const auto &	likelihood_field () const
	Returns the likelihood field, constructed from the provided map. More...
	LikelihoodFieldModel (const param_type &params, const map_type &grid)
	Constructs a LikelihoodFieldModel instance. More...
auto	operator() (measurement_type &&points) const
	Returns a state weighting function conditioned on 2D lidar hits. More...
void	update_map (const map_type &grid)
	Update the sensor model with a new occupancy grid map. More...

Static Private Member Functions
static ValueGrid2< double >	make_likelihood_field (const LikelihoodFieldModelParam &params, const OccupancyGrid &grid)

Private Attributes
ValueGrid2< double >	likelihood_field_
param_type	params_
Sophus::SE2d	world_to_likelihood_field_transform_

Detailed Description

template<class OccupancyGrid>
class beluga::LikelihoodFieldModel< OccupancyGrid >

Likelihood field sensor model for range finders.

This model relies on a pre-computed likelihood map of the environment. It is less computationally intensive than the beluga::BeamSensorModel because no ray-tracing is required, and it can also provide better performance in environments with non-smooth occupation maps. See Probabilistic Robotics [thrun2005probabilistic], Chapter 6.4, for further reference.

Note

This class satisfies Beluga named requirements: SensorModel.

Template Parameters

OccupancyGrid

Type representing an occupancy grid. It must satisfy Beluga named requirements: OccupancyGrid2d.

Definition at line 78 of file likelihood_field_model.hpp.

Member Typedef Documentation

map_type

template<class OccupancyGrid >

using beluga::LikelihoodFieldModel< OccupancyGrid >::map_type = OccupancyGrid

Map representation type.

Definition at line 87 of file likelihood_field_model.hpp.

measurement_type

template<class OccupancyGrid >

using beluga::LikelihoodFieldModel< OccupancyGrid >::measurement_type = std::vector<std::pair<double, double> >

Measurement type of the sensor: a point cloud for the range finder.

Definition at line 85 of file likelihood_field_model.hpp.

param_type

template<class OccupancyGrid >

using beluga::LikelihoodFieldModel< OccupancyGrid >::param_type = LikelihoodFieldModelParam

Parameter type that the constructor uses to configure the likelihood field model.

Definition at line 89 of file likelihood_field_model.hpp.

state_type

template<class OccupancyGrid >

using beluga::LikelihoodFieldModel< OccupancyGrid >::state_type = Sophus::SE2d

State type of a particle.

Definition at line 81 of file likelihood_field_model.hpp.

weight_type

template<class OccupancyGrid >

using beluga::LikelihoodFieldModel< OccupancyGrid >::weight_type = double

Weight type of the particle.

Definition at line 83 of file likelihood_field_model.hpp.

Constructor & Destructor Documentation

LikelihoodFieldModel()

template<class OccupancyGrid >

beluga::LikelihoodFieldModel< OccupancyGrid >::LikelihoodFieldModel ( const param_type &  params, const map_type &  grid  )

inlineexplicit

Constructs a LikelihoodFieldModel instance.

Parameters

params	Parameters to configure this instance. See beluga::LikelihoodFieldModelParam for details.
grid	Occupancy grid representing the static map that the sensor model uses to compute a likelihood field for lidar hits and compute importance weights for particle states.

Definition at line 99 of file likelihood_field_model.hpp.

Member Function Documentation

likelihood_field()

template<class OccupancyGrid >

const auto& beluga::LikelihoodFieldModel< OccupancyGrid >::likelihood_field ( ) const

inline

Returns the likelihood field, constructed from the provided map.

Definition at line 105 of file likelihood_field_model.hpp.

make_likelihood_field()

template<class OccupancyGrid >

static ValueGrid2<double> beluga::LikelihoodFieldModel< OccupancyGrid >::make_likelihood_field ( const LikelihoodFieldModelParam &  params, const OccupancyGrid &  grid  )

inlinestaticprivate

Definition at line 156 of file likelihood_field_model.hpp.

operator()()

template<class OccupancyGrid >

auto beluga::LikelihoodFieldModel< OccupancyGrid >::operator() ( measurement_type &&  points ) const

inline

Returns a state weighting function conditioned on 2D lidar hits.

Parameters

points

2D lidar hit points in the reference frame of particle states.

Returns

a state weighting function satisfying Beluga named requirements: StateWeightingFunction and borrowing a reference to this sensor model (and thus their lifetime are bound).

Definition at line 113 of file likelihood_field_model.hpp.

update_map()

template<class OccupancyGrid >

void beluga::LikelihoodFieldModel< OccupancyGrid >::update_map ( const map_type &  grid )

inline

Update the sensor model with a new occupancy grid map.

This method re-computes the underlying likelihood field.

Parameters

grid	New occupancy grid representing the static map.

Definition at line 146 of file likelihood_field_model.hpp.

Member Data Documentation

likelihood_field_

template<class OccupancyGrid >

ValueGrid2<double> beluga::LikelihoodFieldModel< OccupancyGrid >::likelihood_field_

private

Definition at line 153 of file likelihood_field_model.hpp.

params_

template<class OccupancyGrid >

param_type beluga::LikelihoodFieldModel< OccupancyGrid >::params_

private

Definition at line 152 of file likelihood_field_model.hpp.

world_to_likelihood_field_transform_

template<class OccupancyGrid >

Sophus::SE2d beluga::LikelihoodFieldModel< OccupancyGrid >::world_to_likelihood_field_transform_

private

Definition at line 154 of file likelihood_field_model.hpp.

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

• likelihood_field_model.hpp