C++ (Cpp) computeLikelihood Examples

Example #1

File: grid.cpp Project: pragmaticTNT/autonomy_hri

void CGrid::bayesOccupancyFilter()
{
    // PREDICTION BY MOTION MODEL
    computeLikelihood(polar_array.predicted, predicted_true_likelihood_, predicted_false_likelihood_);
    updateGridProbability(prior, predicted_true_likelihood_, predicted_false_likelihood_, predicted_posterior_);

    // UPDATE BY OBSERVATION
    computeLikelihood(polar_array.current, true_likelihood_, false_likelihood_);
    updateGridProbability(predicted_posterior_, true_likelihood_, false_likelihood_, posterior);

    prior = posterior;
    polar_array.past = polar_array.current;
    max_probability_ = posterior.at(maxProbCellIndex());
}

Example #2

File: plane_supported_cuboid_estimator_nodelet.cpp Project: rkoyama1623/jsk_recognition

 void PlaneSupportedCuboidEstimator::likelihood(pcl::PointCloud<pcl::PointXYZ>::ConstPtr input,
                                                pcl::tracking::ParticleCuboid& p)
 {
   p.weight = computeLikelihood(p, candidate_cloud_, tree_, viewpoint_,
                                polygons_, latest_polygon_msg_->likelihood,
                                config_);
 }

Example #3

File: ngs.cpp Project: Cibiv/IQ-TREE

double NGSTree::optimizeAllBranches(int my_iterations, double tolerance, int maxNRStep) {
    return computeLikelihood();
}