OccupancyLayer Class Reference

Log-odds occupancy over an int16 layer of a NavMap. More...

#include <Occupancy.hpp>

Collaboration diagram for OccupancyLayer:

Public Member Functions
void	add (NavCelId cid, int16_t delta)
	Adds delta (fixed point) to cid and clamps to [p_min, p_max].
void	hit (NavCelId cid)
	A measurement ended in cid (occupied evidence).
float	logodds (NavCelId cid) const
void	miss (NavCelId cid)
	A measurement crossed cid (free evidence).
const std::string &	name () const
	OccupancyLayer (NavMap &nm, const std::string &name="occupancy_logodds", OccupancyParams p={})
	Uses (or creates, all unknown) the int16 layer name of nm.
float	probability (NavCelId cid) const
void	reset (NavCelId cid)
	Forgets cid (back to unknown).
OccupancyState	state (NavCelId cid) const
void	update (NavCelId cid, bool occupied)
const std::shared_ptr< LayerView< int16_t > > &	view () const

Static Public Member Functions
static float	logodds_of (float p)
static float	probability_of (float logodds)
static int16_t	to_fixed (float logodds)

Static Public Attributes
static constexpr float	kScale = 1000.0f
	int16 units per log-odds unit

Detailed Description

Log-odds occupancy over an int16 layer of a NavMap.

Values are log-odds in units of 1/kScale; 0 (probability 0.5) is "never observed" and is declared as the layer's unknown value. Updates add the hit/miss log-odds and clamp.

Constructor & Destructor Documentation

OccupancyLayer()

OccupancyLayer ( NavMap & nm, const std::string & name = "occupancy_logodds", OccupancyParams p = {} )

explicit

Uses (or creates, all unknown) the int16 layer name of nm.

Member Function Documentation

add()

void add	(	NavCelId	cid,
		int16_t	delta )

Adds delta (fixed point) to cid and clamps to [p_min, p_max].

hit()

void hit

(

NavCelId

cid

)

A measurement ended in cid (occupied evidence).

logodds()

float logodds

(

NavCelId

cid

)

const

logodds_of()

float logodds_of ( float p )

static

miss()

void miss

(

NavCelId

cid

)

A measurement crossed cid (free evidence).

name()

const std::string & name

(

)

const

probability()

float probability

(

NavCelId

cid

)

const

probability_of()

float probability_of ( float logodds )

static

reset()

void reset

(

NavCelId

cid

)

Forgets cid (back to unknown).

state()

OccupancyState state

(

NavCelId

cid

)

const

to_fixed()

int16_t to_fixed ( float logodds )

static

update()

void update	(	NavCelId	cid,
		bool	occupied )

view()

const std::shared_ptr< LayerView< int16_t > > & view

(

)

const

Member Data Documentation

kScale

float kScale = 1000.0f

staticconstexpr

int16 units per log-odds unit

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The documentation for this class was generated from the following file:

• navmap_core/include/navmap_core/Occupancy.hpp