Arak::OccupancyGrid::OccupancyEstimator Class Reference

#include <occupancy_grid.hpp>

List of all members.

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Detailed Description

Estimates the probability a cell is occupied.

The estimate and updates are performed in log-odds space using inverse observation models.

Definition at line 34 of file occupancy_grid.hpp.

Public Member Functions
	OccupancyEstimator (double prior=0.5)
	Constructor.
void	condition (double posterior)
	Conditions this estimator on new evidence.
double	estimate () const
	Returns an estimate of the probability this cell is occupied.
Protected Attributes
double	prior_log_odds
	This is the prior probability the cell is occupied.
double	log_odds
	This is the log-odds ratio of the probability the cell is occupied.
Friends
class	OccupancyGrid
class	OccupancyGrid::StateComparator

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Constructor & Destructor Documentation

Arak::OccupancyGrid::OccupancyEstimator::OccupancyEstimator (  double  prior = 0.5  )  [inline]

Constructor. Definition at line 57 of file occupancy_grid.hpp. References log_odds, and prior_log_odds.

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Member Function Documentation

void Arak::OccupancyGrid::OccupancyEstimator::condition (  double  posterior  )  [inline]

Conditions this estimator on new evidence. Parameters: posterior  the probability the cell is occupied given the evidence Definition at line 67 of file occupancy_grid.hpp. References log_odds, and prior_log_odds. Referenced by Arak::OccupancyGrid::laser(), Arak::OccupancyGrid::laser_scan(), and Arak::OccupancyGrid::sonar().

double Arak::OccupancyGrid::OccupancyEstimator::estimate (   )  const [inline]

Returns an estimate of the probability this cell is occupied. Definition at line 75 of file occupancy_grid.hpp. References log_odds. Referenced by Arak::OccupancyGrid::write().

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Friends And Related Function Documentation

friend class OccupancyGrid [friend]

Definition at line 36 of file occupancy_grid.hpp.

friend class OccupancyGrid::StateComparator [friend]

Definition at line 37 of file occupancy_grid.hpp.

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Member Data Documentation

double Arak::OccupancyGrid::OccupancyEstimator::log_odds [protected]

This is the log-odds ratio of the probability the cell is occupied. Definition at line 50 of file occupancy_grid.hpp. Referenced by condition(), estimate(), OccupancyEstimator(), and Arak::OccupancyGrid::OccupancyGrid().

double Arak::OccupancyGrid::OccupancyEstimator::prior_log_odds [protected]

This is the prior probability the cell is occupied. Definition at line 44 of file occupancy_grid.hpp. Referenced by condition(), OccupancyEstimator(), and Arak::OccupancyGrid::OccupancyGrid().

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

• occupancy_grid.hpp

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