75 lines
2.3 KiB
C++
75 lines
2.3 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_PROBABILITY_VALUES_H_
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#define CARTOGRAPHER_MAPPING_PROBABILITY_VALUES_H_
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#include <cmath>
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#include <vector>
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#include "cartographer/common/math.h"
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#include "cartographer/common/port.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace mapping {
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inline float Odds(float probability) {
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return probability / (1.f - probability);
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}
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inline float ProbabilityFromOdds(const float odds) {
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return odds / (odds + 1.f);
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}
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constexpr float kMinProbability = 0.1f;
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constexpr float kMaxProbability = 1.f - kMinProbability;
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// Clamps probability to be in the range [kMinProbability, kMaxProbability].
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inline float ClampProbability(const float probability) {
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return common::Clamp(probability, kMinProbability, kMaxProbability);
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}
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constexpr uint16 kUnknownProbabilityValue = 0;
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constexpr uint16 kUpdateMarker = 1u << 15;
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// Converts a probability to a uint16 in the [1, 32767] range.
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inline uint16 ProbabilityToValue(const float probability) {
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const int value =
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common::RoundToInt((ClampProbability(probability) - kMinProbability) *
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(32766.f / (kMaxProbability - kMinProbability))) +
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1;
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// DCHECK for performance.
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DCHECK_GE(value, 1);
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DCHECK_LE(value, 32767);
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return value;
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}
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extern const std::vector<float>* const kValueToProbability;
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// Converts a uint16 (which may or may not have the update marker set) to a
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// probability in the range [kMinProbability, kMaxProbability].
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inline float ValueToProbability(const uint16 value) {
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return (*kValueToProbability)[value];
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}
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std::vector<uint16> ComputeLookupTableToApplyOdds(float odds);
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_PROBABILITY_VALUES_H_
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