Like Pop, but can timeout. Returns nullptr in this case.

Like push, but returns false if 'timeout' is reached.

Sets the probability of the cell at 'index' to the given 'probability'.

C++11 defines that integer division rounds towards zero. For index math, we actually need it to round towards negative infinity. Luckily bit shifts ha

Converts the given log odds to a probability. This function is known to be very slow, because expf is incredibly slow.

Converts a pose into the 3 optimization variable format used for Ceres: translation in x and y, followed by the rotation angle representing the orient

Iterates over the integer keys of the table at the top of the stack of 'L• and pushes the values one by one. 'pop_value' is expected to pop a value an

Returns the center of the cell at 'index'.

Returns a value between 0 and 255 to represent probabilities between min_score and max_score.

For odometry.

True if 'span' is considered to be short, i.e. not interesting on its own, but should be folded into the levels before and after entering it.

Converts a flat z-major 'index' to a 3-dimensional index with each dimension from 0 to 2^'bits' - 1.

Converts a pose as represented for Ceres back to an transform::Rigid2d pose.