octomap 1.9.8
octomap_utils.h
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1/*
2 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
3 * https://octomap.github.io/
4 *
5 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
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33
34#ifndef OCTOMAP_UTILS_H_
35#define OCTOMAP_UTILS_H_
36
37#include <math.h>
38
39namespace octomap{
40
42 inline float logodds(double probability){
43 return (float) log(probability/(1-probability));
44 }
45
47 inline double probability(double logodds){
48 return 1. - ( 1. / (1. + exp(logodds)));
49
50 }
51}
52
53
54
55#endif /* OCTOMAP_UTILS_H_ */
Namespace the OctoMap library and visualization tools.
float logodds(double probability)
compute log-odds from probability:
Definition: octomap_utils.h:42
double probability(double logodds)
compute probability from logodds:
Definition: octomap_utils.h:47