mrpt::slam::CLogOddsGridMapLUT Struct Reference

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Detailed Description

One static instance of this struct should exist in any class implementing CLogOddsGridMap2D to hold the Look-up-tables (LUTs) for log-odss Bayesian update.

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

• int8_t or
• int16_t

See also:

CLogOddsGridMap2D, see derived classes for usage examples.

#include <mrpt/slam/CLogOddsGridMap2D.h>

Inheritance diagram for mrpt::slam::CLogOddsGridMapLUT:

List of all members.

Public Types
typedef TCELL	cell_t
	The type of.
typedef detail::logoddscell_traits < TCELL >	traits_t
Public Member Functions
	CLogOddsGridMapLUT ()
	Constructor: computes all the required stuff.
float	l2p (const cell_t l)
	Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l))
uint8_t	l2p_255 (const cell_t l)
	Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l))
cell_t	p2l (const float p)
	Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cell_t.
Public Attributes
std::vector< float >	logoddsTable
	A lookup table to compute occupancy probabilities in [0,1] from integer log-odds values in the cells, using .
std::vector< uint8_t >	logoddsTable_255
	A lookup table to compute occupancy probabilities in the range [0,255] from integer log-odds values in the cells, using .
std::vector< cell_t >	p2lTable
	A lookup table for passing from float to log-odds as cell_t.

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Member Typedef Documentation

typedef TCELL mrpt::slam::CLogOddsGridMapLUT::cell_t

The type of.

Definition at line 164 of file CLogOddsGridMap2D.h.

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

Definition at line 165 of file CLogOddsGridMap2D.h.

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Constructor & Destructor Documentation

mrpt::slam::CLogOddsGridMapLUT::CLogOddsGridMapLUT

(

)

[inline]

Constructor: computes all the required stuff.

Definition at line 180 of file CLogOddsGridMap2D.h.

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Member Function Documentation

float mrpt::slam::CLogOddsGridMapLUT::l2p

(

const cell_t

l

)

[inline]

Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l))

Definition at line 223 of file CLogOddsGridMap2D.h.

Referenced by mrpt::slam::COccupancyGridMap2D::l2p().

uint8_t mrpt::slam::CLogOddsGridMapLUT::l2p_255

(

const cell_t

l

)

[inline]

Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l))

Definition at line 232 of file CLogOddsGridMap2D.h.

Referenced by mrpt::slam::COccupancyGridMap2D::l2p_255().

cell_t mrpt::slam::CLogOddsGridMapLUT::p2l

(

const float

p

)

[inline]

Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cell_t.

Definition at line 241 of file CLogOddsGridMap2D.h.

Referenced by mrpt::slam::COccupancyGridMap2D::p2l().

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Member Data Documentation

std::vector<float> mrpt::slam::CLogOddsGridMapLUT::logoddsTable

A lookup table to compute occupancy probabilities in [0,1] from integer log-odds values in the cells, using .

Definition at line 169 of file CLogOddsGridMap2D.h.

Referenced by mrpt::slam::CLogOddsGridMapLUT< cellType >::CLogOddsGridMapLUT(), and mrpt::slam::CLogOddsGridMapLUT< cellType >::l2p().

std::vector<uint8_t> mrpt::slam::CLogOddsGridMapLUT::logoddsTable_255

A lookup table to compute occupancy probabilities in the range [0,255] from integer log-odds values in the cells, using .

This is used to speed-up conversions to grayscale images.

Definition at line 174 of file CLogOddsGridMap2D.h.

Referenced by mrpt::slam::CLogOddsGridMapLUT< cellType >::CLogOddsGridMapLUT(), and mrpt::slam::CLogOddsGridMapLUT< cellType >::l2p_255().

std::vector<cell_t> mrpt::slam::CLogOddsGridMapLUT::p2lTable

A lookup table for passing from float to log-odds as cell_t.

Definition at line 177 of file CLogOddsGridMap2D.h.

Referenced by mrpt::slam::CLogOddsGridMapLUT< cellType >::CLogOddsGridMapLUT(), and mrpt::slam::CLogOddsGridMapLUT< cellType >::p2l().