cartographer源码分析(51)-mapping- submaps.h

最新推荐文章于 2024-03-17 01:48:15 发布

slamcode

最新推荐文章于 2024-03-17 01:48:15 发布

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分类专栏： cartographer源码分析

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文件: submaps.h


#ifndef CARTOGRAPHER_MAPPING_SUBMAPS_H_
#define CARTOGRAPHER_MAPPING_SUBMAPS_H_

#include <memory>
#include <vector>

#include "Eigen/Geometry"
#include "cartographer/common/math.h"
#include "cartographer/common/port.h"
#include "cartographer/mapping/id.h"
#include "cartographer/mapping/probability_values.h"
#include "cartographer/mapping/proto/submap_visualization.pb.h"
#include "cartographer/mapping/trajectory_node.h"
#include "cartographer/mapping_2d/probability_grid.h"
#include "glog/logging.h"

namespace cartographer {
namespace mapping {


//求odds(p)的log对数
// Converts the given probability to log odds.
inline float Logit(float probability) {
  return std::log(probability / (1.f - probability));
}

const