laser2og::OgSensorModel Class Reference

#include <ogsensormodel.h>

List of all members.

Public Member Functions
double	likelihood (const double rangeToCell, const double rangeToReturn, const double posSD, const double headSD)

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Detailed Description

Likelihood function for certainty grids (CG).

Author:

Alex Makarenko

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Member Function Documentation

double OgSensorModel::likelihood	(	const double	rangeToCell,
		const double	rangeToReturn,
		const double	Sp,
		const double	Sh
	)

PZX = LIKELIHOOD( D, R, Sp, Sh )

Parameters:

	D	- distance from vehicle to cell to be updated (not the cell from which sensor_ return came from )
	R	- range of the return
	Sp	- vehicle position std deviation from covariance rotated in the direction of the return
	Sh	- vehicle heading std deviation

Todo:

clean up this function.

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

• ogsensormodel.h
• ogsensormodel.cpp