A 2D range scan plus an uncertainty model for each range.
Definition at line 22 of file CObservation2DRangeScanWithUncertainty.h.
#include <mrpt/obs/CObservation2DRangeScanWithUncertainty.h>
Classes | |
struct | TEvalParams |
Public Member Functions | |
double | evaluateScanLikelihood (const CObservation2DRangeScan &otherScan, const TEvalParams ¶ms) const |
Returns a measure of the likelihood of a given scan, compared to this scan variances. | |
Public Attributes | |
CObservation2DRangeScan | rangeScan |
The observation with the mean ranges in the scan field. | |
Eigen::VectorXd | rangesMean |
The same ranges than in rangeScan.scan[], for convenience as an Eigen container, and with double precision. | |
Eigen::MatrixXd | rangesCovar |
The covariance matrix for all the ranges in rangeScan.scan[]. | |
double mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood | ( | const CObservation2DRangeScan & | otherScan, |
const TEvalParams & | params | ||
) | const |
Returns a measure of the likelihood of a given scan, compared to this scan variances.
CObservation2DRangeScan mrpt::obs::CObservation2DRangeScanWithUncertainty::rangeScan |
The observation with the mean ranges in the scan field.
Definition at line 25 of file CObservation2DRangeScanWithUncertainty.h.
Eigen::MatrixXd mrpt::obs::CObservation2DRangeScanWithUncertainty::rangesCovar |
The covariance matrix for all the ranges in rangeScan.scan[].
Definition at line 27 of file CObservation2DRangeScanWithUncertainty.h.
Eigen::VectorXd mrpt::obs::CObservation2DRangeScanWithUncertainty::rangesMean |
The same ranges than in rangeScan.scan[], for convenience as an Eigen container, and with double
precision.
Definition at line 26 of file CObservation2DRangeScanWithUncertainty.h.
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