Struct BIMacObservation

• Defined in File bimac.h

Struct Documentation

struct BIMacObservation

Struct for storing BiMac observations.

Note an observation at (x,y) corresponds to element (y,x) in the matrices. This is so we map to the Cartesian coordinates the robot operates over.

Members:

• cell: The cell on the grid

• freeToOccupied: Number of observations at (x,y) going from free to occupied

• freeToFree: Number of observations at (x,y) going from free to free

• occupiedToFree: Number of observations at (x,y) going from occupied to free

• occupiedToOccupied: Number of observations at (x,y) going from occupied to

• occupied

• initFree: Number of observations of (x,y) being free at time 0

• initOccupied: Number of observationsof (x,y) being occupied at time 0

Public Members

GridCell cell = {}

int freeToOccupied = {}

int freeToFree = {}

int occupiedToFree = {}

int occupiedToOccupied = {}

int initFree = {}

int initOccupied = {}