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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