mrpt::slam::CLogOddsGridMap2D< TCELL > Struct Template Reference

Detailed Description

template<typename TCELL>
struct mrpt::slam::CLogOddsGridMap2D< TCELL >

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.

Definition at line 50 of file CLogOddsGridMap2D.h.

#include <mrpt/slam/CLogOddsGridMap2D.h>

Inheritance diagram for mrpt::slam::CLogOddsGridMap2D< TCELL >:

Public Types
typedef TCELL	cell_t
	The type of cells. More...
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. More...
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. More...
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. More...
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. More...

Member Typedef Documentation

template<typename TCELL>

typedef TCELL mrpt::slam::CLogOddsGridMap2D< TCELL >::cell_t

The type of cells.

Definition at line 52 of file CLogOddsGridMap2D.h.

template<typename TCELL>

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

Definition at line 53 of file CLogOddsGridMap2D.h.

Member Function Documentation

template<typename TCELL>

static void mrpt::slam::CLogOddsGridMap2D< TCELL >::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  )

inlinestatic

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 102 of file CLogOddsGridMap2D.h.

template<typename TCELL>

static void mrpt::slam::CLogOddsGridMap2D< TCELL >::updateCell_fast_free ( cell_t *  theCell, const cell_t  logodd_obs, const cell_t  thres  )

inlinestatic

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 124 of file CLogOddsGridMap2D.h.

template<typename TCELL>

static void mrpt::slam::CLogOddsGridMap2D< TCELL >::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  )

inlinestatic

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 63 of file CLogOddsGridMap2D.h.

template<typename TCELL>

static void mrpt::slam::CLogOddsGridMap2D< TCELL >::updateCell_fast_occupied ( cell_t *  theCell, const cell_t  logodd_obs, const cell_t  thres  )

inlinestatic

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 84 of file CLogOddsGridMap2D.h.