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9 #ifndef CObservation2DRangeScanWithUncertainty_H
10 #define CObservation2DRangeScanWithUncertainty_H
double prob_outliers
(Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray.
A 2D range scan plus an uncertainty model for each range.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Eigen::MatrixXd rangesCovar
The covariance matrix for all the ranges in rangeScan.scan[].
Eigen::VectorXd rangesMean
The same ranges than in rangeScan.scan[], for convenience as an Eigen container, and with double prec...
CObservation2DRangeScan rangeScan
The observation with the mean ranges in the scan field.
double max_prediction_std_dev
(Default: 1.0m) Maximum std deviation of overall uncertainty for a range prediction to be considered ...
double prob_lost_ray
(Default: 0.3) Conditional probability: how many of the "no return" ranges come from a failure to det...
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