beluga::NDTCell< NDim, Scalar > Struct Template Reference

Representation for a cell of a N dimensional NDT cell. More...

#include <ndt_cell.hpp>

Public Types
using	scalar_type = Scalar
	Floating point scalar type. More...

Public Member Functions
double	likelihood_at (const NDTCell &measurement, double d1=1.0, double d2=1.0) const

Public Attributes
Eigen::Matrix< Scalar, NDim, NDim >	covariance
	Covariance of the N dimensional normal distribution. More...
Eigen::Vector< Scalar, NDim >	mean
	Mean of the N dimensional normal distribution. More...

Static Public Attributes
static constexpr int	num_dim = NDim
	Number of dimensions of the cell's translation. More...

Friends
NDTCell	operator* (const Sophus::SE2< scalar_type > &tf, const NDTCell &ndt_cell)
	Transform the normal distribution according to tf, both mean and covariance. More...
NDTCell	operator* (const Sophus::SE3< scalar_type > &tf, const NDTCell &ndt_cell)
	Transform the normal distribution according to tf, both mean and covariance. More...
std::ostream &	operator<< (std::ostream &os, const NDTCell &cell)
	Ostream overload mostly for debugging purposes. More...

Detailed Description

template<int NDim, typename Scalar = double>
struct beluga::NDTCell< NDim, Scalar >

Representation for a cell of a N dimensional NDT cell.

Definition at line 36 of file ndt_cell.hpp.

Member Typedef Documentation

scalar_type

template<int NDim, typename Scalar = double>

using beluga::NDTCell< NDim, Scalar >::scalar_type = Scalar

Floating point scalar type.

Definition at line 41 of file ndt_cell.hpp.

Member Function Documentation

likelihood_at()

template<int NDim, typename Scalar = double>

double beluga::NDTCell< NDim, Scalar >::likelihood_at ( const NDTCell< NDim, Scalar > &  measurement, double  d1 = 1.0, double  d2 = 1.0  ) const

inline

Get the L2 likelihood at measurement, scaled by d1 and d2. It assumes the measurement is pre-transformed into the same frame as this cell instance.

Definition at line 49 of file ndt_cell.hpp.

Friends And Related Function Documentation

operator* [1/2]

template<int NDim, typename Scalar = double>

NDTCell operator* ( const Sophus::SE2< scalar_type > &  tf, const NDTCell< NDim, Scalar > &  ndt_cell  )

friend

Transform the normal distribution according to tf, both mean and covariance.

Definition at line 63 of file ndt_cell.hpp.

operator* [2/2]

template<int NDim, typename Scalar = double>

NDTCell operator* ( const Sophus::SE3< scalar_type > &  tf, const NDTCell< NDim, Scalar > &  ndt_cell  )

friend

Transform the normal distribution according to tf, both mean and covariance.

Definition at line 71 of file ndt_cell.hpp.

operator<<

template<int NDim, typename Scalar = double>

std::ostream& operator<< ( std::ostream &  os, const NDTCell< NDim, Scalar > &  cell  )

friend

Ostream overload mostly for debugging purposes.

Definition at line 57 of file ndt_cell.hpp.

Member Data Documentation

covariance

template<int NDim, typename Scalar = double>

Eigen::Matrix<Scalar, NDim, NDim> beluga::NDTCell< NDim, Scalar >::covariance

Covariance of the N dimensional normal distribution.

Definition at line 45 of file ndt_cell.hpp.

mean

template<int NDim, typename Scalar = double>

Eigen::Vector<Scalar, NDim> beluga::NDTCell< NDim, Scalar >::mean

Mean of the N dimensional normal distribution.

Definition at line 43 of file ndt_cell.hpp.

num_dim

template<int NDim, typename Scalar = double>

constexpr int beluga::NDTCell< NDim, Scalar >::num_dim = NDim

staticconstexpr

Number of dimensions of the cell's translation.

Definition at line 39 of file ndt_cell.hpp.

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

• ndt_cell.hpp