OccupancyParams Struct Reference

Probabilities of the update rule and of the classification (OctoMap defaults). More...

#include <Occupancy.hpp>

Collaboration diagram for OccupancyParams:

Public Attributes
float	p_free {0.4f}
	At or below: FREE (in between: UNKNOWN).
float	p_hit {0.7f}
	A measurement ends in the NavCel.
float	p_max {0.97f}
	Clamping: never more certain of occupied than this.
float	p_min {0.12f}
	Clamping: never more certain of free than this.
float	p_miss {0.4f}
	A measurement crosses the NavCel.
float	p_occupied {0.6f}
	At or above: OCCUPIED.

Detailed Description

Probabilities of the update rule and of the classification (OctoMap defaults).

Member Data Documentation

p_free

float p_free {0.4f}

At or below: FREE (in between: UNKNOWN).

p_hit

float p_hit {0.7f}

A measurement ends in the NavCel.

p_max

float p_max {0.97f}

Clamping: never more certain of occupied than this.

p_min

float p_min {0.12f}

Clamping: never more certain of free than this.

p_miss

float p_miss {0.4f}

A measurement crosses the NavCel.

p_occupied

float p_occupied {0.6f}

At or above: OCCUPIED.

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

• navmap_core/include/navmap_core/Occupancy.hpp