beluga::LikelihoodFieldModelBase< OccupancyGrid > Class Template Reference

Likelihood field common sensor model for range finders. More...

#include <likelihood_field_model_base.hpp>

Inheritance diagram for beluga::LikelihoodFieldModelBase< OccupancyGrid >:

Collaboration diagram for beluga::LikelihoodFieldModelBase< OccupancyGrid >:

Public Types
using	map_type = OccupancyGrid
	Map representation type.
using	param_type = LikelihoodFieldModelBaseParam
	Parameter type that the constructor uses to configure the likelihood field model.

Public Member Functions
	LikelihoodFieldModelBase (const param_type &params, const map_type &grid)
	Constructs a LikelihoodFieldCommonModel instance. More...
const auto &	likelihood_field () const
	Returns the likelihood field, constructed from the provided map.
void	update_map (const map_type &grid)
	Update the sensor model with a new occupancy grid map. More...

Static Protected Member Functions
static ValueGrid2< float >	make_likelihood_field (const param_type &params, const OccupancyGrid &grid)
	Creates a likelihood field from an occupancy grid. More...

Protected Attributes
param_type	params_
ValueGrid2< float >	likelihood_field_
Sophus::SE2d	world_to_likelihood_field_transform_

Detailed Description

template<class OccupancyGrid>
class beluga::LikelihoodFieldModelBase< OccupancyGrid >

Likelihood field common sensor model for range finders.

This model relies on a pre-computed likelihood map of the environment. It is less computationally intensive than the beluga::BeamSensorModel because no ray-tracing is required, and it can also provide better performance in environments with non-smooth occupation maps. See Probabilistic Robotics [5], Chapter 6.4, for further reference.

Note

This class satisfies Beluga named requirements: SensorModel.

Template Parameters

OccupancyGrid

Type representing an occupancy grid. It must satisfy Beluga named requirements: OccupancyGrid2d.

Constructor & Destructor Documentation

LikelihoodFieldModelBase()

template<class OccupancyGrid >

beluga::LikelihoodFieldModelBase< OccupancyGrid >::LikelihoodFieldModelBase ( const param_type &  params, const map_type &  grid  )

inlineexplicit

Constructs a LikelihoodFieldCommonModel instance.

Parameters

params	Parameters to configure this instance. See beluga::LikelihoodFieldModelBase for details.
grid	Occupancy grid representing the static map that the sensor model uses to compute a likelihood field for lidar hits and compute importance weights for particle states.

Member Function Documentation

make_likelihood_field()

template<class OccupancyGrid >

static ValueGrid2<float> beluga::LikelihoodFieldModelBase< OccupancyGrid >::make_likelihood_field ( const param_type &  params, const OccupancyGrid &  grid  )

inlinestaticprotected

Creates a likelihood field from an occupancy grid.

Parameters

params	Parameters to configure the likelihood field.
grid	Occupancy grid representing the static map.

Returns

Likelihood field computed from the occupancy grid.

Pre-computed variables

update_map()

template<class OccupancyGrid >

void beluga::LikelihoodFieldModelBase< OccupancyGrid >::update_map ( const map_type &  grid )

inline

Update the sensor model with a new occupancy grid map.

This method re-computes the underlying likelihood field.

Parameters

grid	New occupancy grid representing the static map.

Member Data Documentation

likelihood_field_

template<class OccupancyGrid >

ValueGrid2<float> beluga::LikelihoodFieldModelBase< OccupancyGrid >::likelihood_field_

protected

Likelihood field computed from the occupancy grid map.

params_

template<class OccupancyGrid >

param_type beluga::LikelihoodFieldModelBase< OccupancyGrid >::params_

protected

Parameters configuring the likelihood field model.

world_to_likelihood_field_transform_

template<class OccupancyGrid >

Sophus::SE2d beluga::LikelihoodFieldModelBase< OccupancyGrid >::world_to_likelihood_field_transform_

protected

Transformation from world coordinates to the likelihood field coordinate system.

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

• /home/runner/work/beluga/beluga/beluga/include/beluga/sensor/likelihood_field_model_base.hpp