Detailed Description

Definition at line 110 of file 3dOccupancyGrid.hpp.

Inheritance diagram for jafar::geom::OGSensorModel:

Public Member Functions
void	setRefToSensor (jafar::geom::T3D const &refToSensor)
virtual void	setupUpdate (DenseOG const &og)=0
Box< double >	visibilityBox () const
double	inverseObservation (VoxelCoord const &voxel) const
	Return the probability for this voxel for beeing full.
Protected Member Functions
virtual Box< double >	visibilityBoxInSensorFrame () const =0
virtual double	inverseObservationInSensorFrame (VoxelCoord const &voxel) const =0
Private Attributes
T3D *	m_sensorToRef

Member Function Documentation

double jafar::geom::OGSensorModel::inverseObservation ( VoxelCoord const & voxel ) const

Return the probability for this voxel for beeing full.

The probability is returned in the log-odds ratio form. Here are the relations between l and p:

$l = \log \frac{p}{1-p} \qquad p = 1-\frac{1}{1+ e^l}$

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