octomap  1.9.7
octomap_utils.h
Go to the documentation of this file.
1 /*
2  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
3  * https://octomap.github.io/
4  *
5  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
6  * All rights reserved.
7  * License: New BSD
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above copyright
15  * notice, this list of conditions and the following disclaimer in the
16  * documentation and/or other materials provided with the distribution.
17  * * Neither the name of the University of Freiburg nor the names of its
18  * contributors may be used to endorse or promote products derived from
19  * this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
24  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
25  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
26  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
27  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
28  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
29  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
30  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31  * POSSIBILITY OF SUCH DAMAGE.
32  */
33 
34 #ifndef OCTOMAP_UTILS_H_
35 #define OCTOMAP_UTILS_H_
36 
37 #include <math.h>
38 
39 namespace octomap{
40 
42  inline float logodds(double probability){
43  return (float) log(probability/(1-probability));
44  }
45 
47  inline double probability(double logodds){
48  return 1. - ( 1. / (1. + exp(logodds)));
49 
50  }
51 }
52 
53 
54 
55 #endif /* OCTOMAP_UTILS_H_ */
octomap::probability
double probability(double logodds)
compute probability from logodds:
Definition: octomap_utils.h:47
octomap::logodds
float logodds(double probability)
compute log-odds from probability:
Definition: octomap_utils.h:42
octomap
Tables used by the Marching Cubes Algorithm The tables are from Paul Bourke's web page http://paulbou...