Function Observation::computeObservation

• Defined in File coverage_observation.h

Function Documentation

despot::OBS_TYPE Observation::computeObservation(const Eigen::MatrixXi &map, const GridCell &robotPos, const ActionOutcome &outcome, const std::vector<GridCell> &fov)

Compute the observation given the map, robot position and fov.

Parameters:

• map – The Eigen matrix capturing the state of the environment

• robotPos – The robot’s position

• outcome – The action outcome

• fov – The robot’s field of view as a vector of relative grid cells

Returns:

The observation as a number