Computes the head index of the array.

Element-wise equality with tolerance.

Equality with tolerance between two NDT maps.

Check if the given `value` corresponds to that of a free cell.

Check if the given `value` corresponds to that of an occupied cell.

Check if the given `value` corresponds to that of a cell of unknown occupancy.

Default constructor.

TODO(alon): Wouldn't it be better in the callback of each message to simply receive it and define another timer or thread to do the work of calculatio

TODO(alon): Wouldn't it be better in the callback of each message to simply receive it and define another timer or thread to do the work of calculatio

Returns the L2 likelihood scaled by 'd1' and 'd2' set in the parameters for this instance for 'measurement', for the neighbors kernel cells around the

Returns the origin of the likelihood field in world coordinates.

Script entrypoint.

Creates a likelihood field from an occupancy grid. * \param params Parameters to configure the likelihood field. * \param grid Occupancy grid repre

Computes 4-connected neighborhood for cell. * \param index Grid cell index. * \return range of neighbor cells' indices. */

Computes the neighboring cells for a given pose using the spatial hash function. * \param pose The pose for which neighboring cells are computed. *

Position the current iterator.

Generate a new value to be inserted or increment the input iterator.

Callback for lifecycle transitions from the UNCONFIGURED state to the INACTIVE state.

Handle key events (Callback function).

Constructor. * \param min_distance The minimum translation distance to trigger the action. * \param min_angle The minimum rotation angle (in radian

Constructor. * \param min_distance The minimum translation distance to trigger the action. * \param min_angle The minimum rotation angle (in radian

Compares this object with other parameter set object. * \param other Parameter set object to compare against. * \return True if the objects are not

Compares this object with other distribution object. * Two distribution objects are equal when parameter values and internal state are the same. *

Checks if iterator position is not equal to that of another.

Inequality operator overload, for symmetry (as required by ranges::sentinel_for).

Inequality operator overload (as required by std::forward_iterator).

Bitwise AND operator overload to check of the presence of a feature `flag` in a feature `mask`.

Returns a state weighting function conditioned on 3D lidar hits. * \param measurement 3D lidar measurement containing the hit points and the transform

Compares `a` and `b` for near equality.

Compares `a` and `b` for near equality.

Return true if motion has been detected. * \param prev The previous SE2 pose to check for motion. * \param current The current SE2 pose to check fo

Return true if motion has been detected. * \param prev The previous SE3 pose to check for motion. * \param current The current SE3 pose to check fo

Return true if motion has been detected.

Overload that creates the policy closure in the state space. * This policy triggers an action based on motion. */

Call operator overload. * \return True if the action should be triggered, false otherwise. * * Increments the internal counter and returns true