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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) Detailed Description Likelihood function for certainty grids (CG). Author: Alex Makarenko 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. The documentation for this class was generated from the following files: ogsensormodel.h ogsensormodel.cpp

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