se::FieldData< Field::Occupancy >::Config Struct Reference

#include <data_field.hpp>

Public Member Functions
void	readYaml (const std::string &yaml_file)
	Reads the struct members from the "data" node of a YAML file.

Public Attributes
float	k_sigma = 0.052f
float	sigma_min_factor = 1.5f
float	sigma_max_factor = 6.0f
float	k_tau = 0.026f
float	tau_min_factor = 6.0f
float	tau_max_factor = 16.0f
field_t	log_odd_min = -5.015
field_t	log_odd_max = 5.015
weight_t	max_weight = std::floor(std::fabs(min_occupancy / (0.97f * log_odd_min)))
int	fs_integr_scale = 1
UncertaintyModel	uncertainty_model = UncertaintyModel::Linear

Member Function Documentation

readYaml()

void se::FieldData< Field::Occupancy >::Config::readYaml

(

const std::string &

yaml_file

)

Reads the struct members from the "data" node of a YAML file.

Members not present in the YAML file aren't modified.

Member Data Documentation

k_sigma

float se::FieldData< Field::Occupancy >::Config::k_sigma = 0.052f

sigma_min_factor

float se::FieldData< Field::Occupancy >::Config::sigma_min_factor = 1.5f

sigma_max_factor

float se::FieldData< Field::Occupancy >::Config::sigma_max_factor = 6.0f

k_tau

float se::FieldData< Field::Occupancy >::Config::k_tau = 0.026f

tau_min_factor

float se::FieldData< Field::Occupancy >::Config::tau_min_factor = 6.0f

tau_max_factor

float se::FieldData< Field::Occupancy >::Config::tau_max_factor = 16.0f

log_odd_min

field_t se::FieldData< Field::Occupancy >::Config::log_odd_min = -5.015

log_odd_max

field_t se::FieldData< Field::Occupancy >::Config::log_odd_max = 5.015

max_weight

weight_t se::FieldData< Field::Occupancy >::Config::max_weight = std::floor(std::fabs(min_occupancy / (0.97f * log_odd_min)))

fs_integr_scale

int se::FieldData< Field::Occupancy >::Config::fs_integr_scale = 1

uncertainty_model

UncertaintyModel se::FieldData< Field::Occupancy >::Config::uncertainty_model = UncertaintyModel::Linear

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

• include/se/map/data_field.hpp