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<title>mrpt::slam::COccupancyGridMap2D::TEntropyInfo Struct Reference</title>
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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1slam.html">slam</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">COccupancyGridMap2D</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info.html">TEntropyInfo</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">mrpt::slam::COccupancyGridMap2D::TEntropyInfo Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::COccupancyGridMap2D::TEntropyInfo" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Used for returning entropy related information. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#aa915ebd786a3b748cebb44e4008185f2" title="Computes the entropy and related values of this grid map.">computeEntropy</a> </dd></dl>
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<p><code>#include <<a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">mrpt/slam/COccupancyGridMap2D.h</a>></code></p>
<p><a href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info-members.html">List of all members.</a></p>
<table class="memberdecls">
<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_occupancy_grid_map2_d_1_1_t_entropy_info.html#abab1aaa559b65809ed200a25ce2a886a">TEntropyInfo</a> ()</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">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info.html#aa32374328be368f3d0884cc31a93a7dd">H</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The target variable for absolute entropy, computed as:<br/>
</p>
<center>H(map)=Sum<sub>x,y</sub>{ -p(x,y)·ln(p(x,y)) -(1-p(x,y))·ln(1-p(x,y)) }</center><p><br/>
<br/>
<a href="#aa32374328be368f3d0884cc31a93a7dd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info.html#acb919482458a34dee01c1ba4ea8b956a">I</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The target variable for absolute "information", defining I(x) = 1 - H(x) <a href="#acb919482458a34dee01c1ba4ea8b956a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info.html#aabb2adec9e46784547c6e3a6ccabbae2">mean_H</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The target variable for mean entropy, defined as entropy per cell: mean_H(map) = H(map) / (cells) <a href="#aabb2adec9e46784547c6e3a6ccabbae2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info.html#a62bf96c42d4e4d7b069a9361e48f05a5">mean_I</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The target variable for mean information, defined as information per cell: mean_I(map) = I(map) / (cells) <a href="#a62bf96c42d4e4d7b069a9361e48f05a5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info.html#ad7dd7d0e69edb32ada0339b3d0512f33">effectiveMappedArea</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The target variable for the area of cells with information, i.e. <a href="#ad7dd7d0e69edb32ada0339b3d0512f33"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned long </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info.html#a4c55e51c2a26c644952c1e56db78d619">effectiveMappedCells</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The mapped area in cells. <a href="#a4c55e51c2a26c644952c1e56db78d619"></a><br/></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="abab1aaa559b65809ed200a25ce2a886a"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TEntropyInfo::TEntropyInfo" ref="abab1aaa559b65809ed200a25ce2a886a" args="()" -->
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<td class="memname">mrpt::slam::COccupancyGridMap2D::TEntropyInfo::TEntropyInfo </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00481">481</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ad7dd7d0e69edb32ada0339b3d0512f33"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TEntropyInfo::effectiveMappedArea" ref="ad7dd7d0e69edb32ada0339b3d0512f33" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info.html#ad7dd7d0e69edb32ada0339b3d0512f33">mrpt::slam::COccupancyGridMap2D::TEntropyInfo::effectiveMappedArea</a></td>
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<p>The target variable for the area of cells with information, i.e. </p>
<p>p(x)!=0.5 </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00503">503</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<p>The mapped area in cells. </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00507">507</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="aa32374328be368f3d0884cc31a93a7dd"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TEntropyInfo::H" ref="aa32374328be368f3d0884cc31a93a7dd" args="" -->
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<p>The target variable for absolute entropy, computed as:<br/>
</p>
<center>H(map)=Sum<sub>x,y</sub>{ -p(x,y)·ln(p(x,y)) -(1-p(x,y))·ln(1-p(x,y)) }</center><p><br/>
<br/>
</p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00487">487</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="acb919482458a34dee01c1ba4ea8b956a"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TEntropyInfo::I" ref="acb919482458a34dee01c1ba4ea8b956a" args="" -->
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<p>The target variable for absolute "information", defining I(x) = 1 - H(x) </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00491">491</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="aabb2adec9e46784547c6e3a6ccabbae2"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TEntropyInfo::mean_H" ref="aabb2adec9e46784547c6e3a6ccabbae2" args="" -->
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<p>The target variable for mean entropy, defined as entropy per cell: mean_H(map) = H(map) / (cells) </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00495">495</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="a62bf96c42d4e4d7b069a9361e48f05a5"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TEntropyInfo::mean_I" ref="a62bf96c42d4e4d7b069a9361e48f05a5" args="" -->
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<p>The target variable for mean information, defined as information per cell: mean_I(map) = I(map) / (cells) </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00499">499</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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