Get the number of beams in the scan.

Returns a reference to the array value at the given `index`. * \throws std::out_of_range If `index` is past the array's effective size. */

Resets the output of the exponential filter to zero.

Returns a pointer to the underlying array data. * Note that a circular array does not feature a contiguous layout in memory. * Indices and distance

Returns an iterator pointing past the back of the array.

Compute nearest grid cell coordinates given plane coordinates. * Note this is a surjective function. * * \param p Plane coordinates. * \retur

Returns true if the array is empty, false otherwise.

Gets nearest cell data, if included. * \param x Plane x-axis coordinate. * \param y Plane y-axis coordinate. * \return Cell data if included, `s

Returns a reference to the value at the front of the array. * Behavior is undefined when accessing the front of an empty array. */

Returns an iterator pointing to the front of the array.

Get cartesian points in the point cloud as a matrix.

Overloaded update method for LaserScan.

Checks if a cell is included in the grid. * \param xi Grid cell x-axis coordinate. * \param yi Grid cell y-axis coordinate. */

Gets grid size (ie. number of grid cells).

@brief Returns the map boundaries. @return The map boundaries.

Gets grid width.

Returns an iterator pointing to the first point in the line.

Casts ray along a given direction. * Distances are measured from cell centroid to cell centroid. * * \param bearing Direction for ray casting.

Compute plane coordinates given a grid cell index. * \param index Grid cell index. * \return Plane coordinates of the cell centroid. */

Update particles based on motion and sensor information. * This method performs a particle filter update step using motion and sensor data. It evaluat

Transforms a SE3 transform into a SE2 transform, by flattening the Z axis.

Embed a SE2 transform into 3D space with zero Z translation and only rotation about the Z axis.

Returns a constant iterator pointing to the front of the array.

Returns a constant iterator pointing past the back of the array.

Checks if cell is free. * Note cells not included in the grid are non-free too. * * \param index Grid cell index. */

Computes 4-connected neighborhood for cell. * \param xi Grid cell x-axis coordinate. * \param yi Grid cell y-axis coordinate. * \return range of

Returns a sentinel as past-of-end iterator.

Get the L2 likelihood at measurement, scaled by d1 and d2. It assumes the measurement is pre-transformed into the same frame as this cell instance.

Downcast this to a mutable lvalue reference.

Initialize particles using the default map distribution.

Access the current iterator.

Update the map used for localization.

@brief Finds the landmark that minimizes the bearing error to a given detection and returns its data. @param detection_bearing_in_sensor The detection

@brief Finds the nearest landmark to a given detection and returns it's data. @param detection_position_in_world The detection data. @param detection_

Returns true if the array is full, false otherwise.

Plot the map using contour plots into the current figure and returns it. Optionally show the plot based on the 'show' parameter.

Returns a reference to the value at the back of the array. * Behavior is undefined when accessing the back of an empty array. */

Returns the effective array size. * Nominally, the effective array size is equal to the array size. If the last * value extrapolation feature is en

Force a manual update of the particles on the next iteration of the filter.

Checks if nearest cell is free. * Note cells not included in the grid are non-free too. * * \param x Plane x-axis coordinate. * \param y Plan

Equality with tolerance between two NDT maps.

Returns the maximum array size.

Gets grid resolution.

Add a new cell with its distribution.