mrpt::slam::CLogOddsGridMap2D Struct Reference

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Detailed Description

A generic provider of log-odds grid-map maintainance functions.

Map cells must be type TCELL, which can be only:

• int8_t or
• int16_t

See also:

CLogOddsGridMapLUT, See derived classes for usage examples.

#include <mrpt/slam/CLogOddsGridMap2D.h>

Inheritance diagram for mrpt::slam::CLogOddsGridMap2D:

List of all members.

Public Types
typedef TCELL	cell_t
	The type of cells.
typedef detail::logoddscell_traits < TCELL >	traits_t
Static Public Member Functions
static void	updateCell_fast_occupied (const unsigned x, const unsigned y, const cell_t logodd_obs, const cell_t thres, cell_t *mapArray, const unsigned _size_x)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
static void	updateCell_fast_occupied (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
static void	updateCell_fast_free (const unsigned x, const unsigned y, const cell_t logodd_obs, const cell_t thres, cell_t *mapArray, const unsigned _size_x)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
static void	updateCell_fast_free (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

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Member Typedef Documentation

typedef TCELL mrpt::slam::CLogOddsGridMap2D::cell_t

The type of cells.

Definition at line 69 of file CLogOddsGridMap2D.h.

typedef detail::logoddscell_traits<TCELL> mrpt::slam::CLogOddsGridMap2D::traits_t

Definition at line 70 of file CLogOddsGridMap2D.h.

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Member Function Documentation

static void mrpt::slam::CLogOddsGridMap2D::updateCell_fast_free	(	const unsigned	x,
		const unsigned	y,
		const cell_t	logodd_obs,
		const cell_t	thres,
		cell_t *	mapArray,
		const unsigned	_size_x
	)		[inline, static]

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters:

x	Cell index in X axis.
y	Cell index in Y axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MAX-logodd_obs

See also:

updateCell_fast_occupied

Definition at line 119 of file CLogOddsGridMap2D.h.

static void mrpt::slam::CLogOddsGridMap2D::updateCell_fast_free	(	cell_t *	theCell,
		const cell_t	logodd_obs,
		const cell_t	thres
	)		[inline, static]

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters:

x	Cell index in X axis.
y	Cell index in Y axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MAX-logodd_obs

See also:

updateCell_fast_occupied

Definition at line 141 of file CLogOddsGridMap2D.h.

static void mrpt::slam::CLogOddsGridMap2D::updateCell_fast_occupied	(	const unsigned	x,
		const unsigned	y,
		const cell_t	logodd_obs,
		const cell_t	thres,
		cell_t *	mapArray,
		const unsigned	_size_x
	)		[inline, static]

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters:

x	Cell index in X axis.
y	Cell index in Y axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MIN+logodd_obs

See also:

updateCell, updateCell_fast_free

Definition at line 80 of file CLogOddsGridMap2D.h.

static void mrpt::slam::CLogOddsGridMap2D::updateCell_fast_occupied	(	cell_t *	theCell,
		const cell_t	logodd_obs,
		const cell_t	thres
	)		[inline, static]

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters:

theCell	The cell to modify
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MIN+logodd_obs

See also:

updateCell, updateCell_fast_free

Definition at line 101 of file CLogOddsGridMap2D.h.