Occupancy.hpp File Reference

Probabilistic occupancy per NavCel: log-odds with clamping (as OctoMap), stored in an int16 layer in fixed point, and a three-state classification (as UFOMap). More...

#include <algorithm>
#include <cmath>
#include <cstdint>
#include <limits>
#include <memory>
#include <string>
#include "navmap_core/NavMap.hpp"

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Classes
class	OccupancyLayer
	Log-odds occupancy over an int16 layer of a NavMap. More...
struct	OccupancyParams
	Probabilities of the update rule and of the classification (OctoMap defaults). More...

Namespaces
namespace	navmap

Enumerations
enum class	OccupancyState : uint8_t { UNKNOWN = 0 , FREE = 1 , OCCUPIED = 2 }
	Three-state classification of a NavCel. More...

Detailed Description

Probabilistic occupancy per NavCel: log-odds with clamping (as OctoMap), stored in an int16 layer in fixed point, and a three-state classification (as UFOMap).

This is the update rule only. Which NavCels a measurement hits or traverses (the sensor model) is decided by the algorithm that uses it.