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<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html">CLogOddsGridMapLUT</a> </li>
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<div class="title">mrpt::slam::CLogOddsGridMapLUT Struct Reference<div class="ingroups"><a class="el" href="group__mrpt__maps__grp.html">[mrpt-maps]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CLogOddsGridMapLUT" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>One static instance of this struct should exist in any class implementing <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map2_d.html" title="A generic provider of log-odds grid-map maintainance functions.">CLogOddsGridMap2D</a> to hold the Look-up-tables (LUTs) for log-odss Bayesian update. </p>
<p>Map cells must be type TCELL, which can be only:</p>
<ul>
<li>int8_t or</li>
<li>int16_t</li>
</ul>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map2_d.html" title="A generic provider of log-odds grid-map maintainance functions.">CLogOddsGridMap2D</a>, see derived classes for usage examples. </dd></dl>
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<p><code>#include <<a class="el" href="_c_log_odds_grid_map2_d_8h_source.html">mrpt/slam/CLogOddsGridMap2D.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CLogOddsGridMapLUT:</div>
<div class="dyncontent">
<div class="center"><img src="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t_inherit__map" id="mrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t_inherit__map">
<area shape="rect" id="node3" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html" title="mrpt::slam::CLogOddsGridMapLUT\< cell_t \>" alt="" coords="369,5,652,32"/><area shape="rect" id="node5" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html" title="mrpt::slam::CLogOddsGridMapLUT\< cellType \>" alt="" coords="360,56,661,83"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef TCELL </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a7e029b03177c28b86c27ad95e9591d9a">cell_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of. <a href="#a7e029b03177c28b86c27ad95e9591d9a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
detail::logoddscell_traits<br class="typebreak"/>
< TCELL > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a37f190d1b41eeefcf4e72c7d7aabb94b">traits_t</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a2ed63f4696719638d38afabad9788d58">CLogOddsGridMapLUT</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor: computes all the required stuff. <a href="#a2ed63f4696719638d38afabad9788d58"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a26003c76f089968f664b8c7e3c7dd3d4">l2p</a> (const <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a7e029b03177c28b86c27ad95e9591d9a">cell_t</a> l)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l)) <a href="#a26003c76f089968f664b8c7e3c7dd3d4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a5e16de15a3e35a430f3a5609e711d8ae">l2p_255</a> (const <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a7e029b03177c28b86c27ad95e9591d9a">cell_t</a> l)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l)) <a href="#a5e16de15a3e35a430f3a5609e711d8ae"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a7e029b03177c28b86c27ad95e9591d9a">cell_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#af325712d6dc838a8721e35545f550103">p2l</a> (const float p)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cell_t. <a href="#af325712d6dc838a8721e35545f550103"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< float > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a3265c02c0b3ebf54d853750ffec4af59">logoddsTable</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A lookup table to compute occupancy probabilities in [0,1] from integer log-odds values in the cells, using <img class="formulaInl" alt="$ p(m_{xy}) = \frac{1}{1+exp(-log_odd)} $" src="form_103.png"/>. <a href="#a3265c02c0b3ebf54d853750ffec4af59"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< uint8_t > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a41a70c78a08d77b9a338922261b0763a">logoddsTable_255</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A lookup table to compute occupancy probabilities in the range [0,255] from integer log-odds values in the cells, using <img class="formulaInl" alt="$ p(m_{xy}) = \frac{1}{1+exp(-log_odd)} $" src="form_103.png"/>. <a href="#a41a70c78a08d77b9a338922261b0763a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a7e029b03177c28b86c27ad95e9591d9a">cell_t</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#aae8e647e1113fd0849bdca1b72816b99">p2lTable</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A lookup table for passing from float to log-odds as cell_t. <a href="#aae8e647e1113fd0849bdca1b72816b99"></a><br/></td></tr>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a7e029b03177c28b86c27ad95e9591d9a"></a><!-- doxytag: member="mrpt::slam::CLogOddsGridMapLUT::cell_t" ref="a7e029b03177c28b86c27ad95e9591d9a" args="" -->
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<td class="memname">typedef TCELL <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a7e029b03177c28b86c27ad95e9591d9a">mrpt::slam::CLogOddsGridMapLUT::cell_t</a></td>
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<p>The type of. </p>
<p>Definition at line <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00164">164</a> of file <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html">CLogOddsGridMap2D.h</a>.</p>
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<a class="anchor" id="a37f190d1b41eeefcf4e72c7d7aabb94b"></a><!-- doxytag: member="mrpt::slam::CLogOddsGridMapLUT::traits_t" ref="a37f190d1b41eeefcf4e72c7d7aabb94b" args="" -->
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<td class="memname">typedef detail::logoddscell_traits<TCELL> <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a37f190d1b41eeefcf4e72c7d7aabb94b">mrpt::slam::CLogOddsGridMapLUT::traits_t</a></td>
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<p>Definition at line <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00165">165</a> of file <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html">CLogOddsGridMap2D.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a2ed63f4696719638d38afabad9788d58"></a><!-- doxytag: member="mrpt::slam::CLogOddsGridMapLUT::CLogOddsGridMapLUT" ref="a2ed63f4696719638d38afabad9788d58" args="()" -->
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<td class="memname">mrpt::slam::CLogOddsGridMapLUT::CLogOddsGridMapLUT </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Constructor: computes all the required stuff. </p>
<p>Definition at line <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00180">180</a> of file <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html">CLogOddsGridMap2D.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a26003c76f089968f664b8c7e3c7dd3d4"></a><!-- doxytag: member="mrpt::slam::CLogOddsGridMapLUT::l2p" ref="a26003c76f089968f664b8c7e3c7dd3d4" args="(const cell_t l)" -->
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<td class="memname">float mrpt::slam::CLogOddsGridMapLUT::l2p </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a7e029b03177c28b86c27ad95e9591d9a">cell_t</a> </td>
<td class="paramname"><em>l</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l)) </p>
<p>Definition at line <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00223">223</a> of file <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html">CLogOddsGridMap2D.h</a>.</p>
<p>Referenced by <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00388">mrpt::slam::COccupancyGridMap2D::l2p()</a>.</p>
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<a class="anchor" id="a5e16de15a3e35a430f3a5609e711d8ae"></a><!-- doxytag: member="mrpt::slam::CLogOddsGridMapLUT::l2p_255" ref="a5e16de15a3e35a430f3a5609e711d8ae" args="(const cell_t l)" -->
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<td class="memname">uint8_t mrpt::slam::CLogOddsGridMapLUT::l2p_255 </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a7e029b03177c28b86c27ad95e9591d9a">cell_t</a> </td>
<td class="paramname"><em>l</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l)) </p>
<p>Definition at line <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00232">232</a> of file <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html">CLogOddsGridMap2D.h</a>.</p>
<p>Referenced by <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00395">mrpt::slam::COccupancyGridMap2D::l2p_255()</a>.</p>
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<a class="anchor" id="af325712d6dc838a8721e35545f550103"></a><!-- doxytag: member="mrpt::slam::CLogOddsGridMapLUT::p2l" ref="af325712d6dc838a8721e35545f550103" args="(const float p)" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a7e029b03177c28b86c27ad95e9591d9a">cell_t</a> mrpt::slam::CLogOddsGridMapLUT::p2l </td>
<td>(</td>
<td class="paramtype">const float </td>
<td class="paramname"><em>p</em></td><td>)</td>
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<p>Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cell_t. </p>
<p>Definition at line <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00241">241</a> of file <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html">CLogOddsGridMap2D.h</a>.</p>
<p>Referenced by <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00402">mrpt::slam::COccupancyGridMap2D::p2l()</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a3265c02c0b3ebf54d853750ffec4af59"></a><!-- doxytag: member="mrpt::slam::CLogOddsGridMapLUT::logoddsTable" ref="a3265c02c0b3ebf54d853750ffec4af59" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><float> <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a3265c02c0b3ebf54d853750ffec4af59">mrpt::slam::CLogOddsGridMapLUT::logoddsTable</a></td>
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<p>A lookup table to compute occupancy probabilities in [0,1] from integer log-odds values in the cells, using <img class="formulaInl" alt="$ p(m_{xy}) = \frac{1}{1+exp(-log_odd)} $" src="form_103.png"/>. </p>
<p>Definition at line <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00169">169</a> of file <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html">CLogOddsGridMap2D.h</a>.</p>
<p>Referenced by <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00180">mrpt::slam::CLogOddsGridMapLUT< cellType >::CLogOddsGridMapLUT()</a>, and <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00223">mrpt::slam::CLogOddsGridMapLUT< cellType >::l2p()</a>.</p>
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><uint8_t> <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a41a70c78a08d77b9a338922261b0763a">mrpt::slam::CLogOddsGridMapLUT::logoddsTable_255</a></td>
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<p>A lookup table to compute occupancy probabilities in the range [0,255] from integer log-odds values in the cells, using <img class="formulaInl" alt="$ p(m_{xy}) = \frac{1}{1+exp(-log_odd)} $" src="form_103.png"/>. </p>
<p>This is used to speed-up conversions to grayscale images. </p>
<p>Definition at line <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00174">174</a> of file <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html">CLogOddsGridMap2D.h</a>.</p>
<p>Referenced by <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00180">mrpt::slam::CLogOddsGridMapLUT< cellType >::CLogOddsGridMapLUT()</a>, and <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00232">mrpt::slam::CLogOddsGridMapLUT< cellType >::l2p_255()</a>.</p>
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<a class="anchor" id="aae8e647e1113fd0849bdca1b72816b99"></a><!-- doxytag: member="mrpt::slam::CLogOddsGridMapLUT::p2lTable" ref="aae8e647e1113fd0849bdca1b72816b99" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#a7e029b03177c28b86c27ad95e9591d9a">cell_t</a>> <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#aae8e647e1113fd0849bdca1b72816b99">mrpt::slam::CLogOddsGridMapLUT::p2lTable</a></td>
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<p>A lookup table for passing from float to log-odds as cell_t. </p>
<p>Definition at line <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00177">177</a> of file <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html">CLogOddsGridMap2D.h</a>.</p>
<p>Referenced by <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00180">mrpt::slam::CLogOddsGridMapLUT< cellType >::CLogOddsGridMapLUT()</a>, and <a class="el" href="_c_log_odds_grid_map2_d_8h_source.html#l00241">mrpt::slam::CLogOddsGridMapLUT< cellType >::p2l()</a>.</p>
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