/// <summary>
/// Update cell as occupied
/// </summary>
/// <param name="cell">The cell</param>
public void UpdateSetOccupied(LogOddsCell cell)
{
if (cell.Value < 50.0f)
{
cell.Value += logOddsOccupied;
}
}
public float GetObstacleThreshold()
{
LogOddsCell temp = new LogOddsCell();
temp.Reset();
return(gridFunctions.GetGridProbability(temp));
}
private void BresenhamCellFree(int offset)
{
LogOddsCell cell = GetCell(offset);
if (cell.UpdateIndex < currMarkFreeIndex)
{
gridFunctions.UpdateSetFree(cell);
cell.UpdateIndex = currMarkFreeIndex;
}
}
/**
* Get the probability value represented by the grid cell.
* @param cell The cell.
* @return The probability
*/
public float GetGridProbability(LogOddsCell cell)
{
float odds = MathF.Exp(cell.Value);
return(odds / (odds + 1.0f));
/*
* float val = cell.logOddsVal;
*
* //prevent #IND when doing exp(large number).
* if (val > 50.0f) {
* return 1.0f;
* } else {
* float odds = exp(val);
* return odds / (odds + 1.0f);
* }
*/
//return 0.5f;
}
/// <summary>
/// Update cell as not free
/// </summary>
/// <param name="cell">The cell</param>
public void UpdateUnsetFree(LogOddsCell cell)
{
cell.Value -= logOddsFree;
}
/// <summary>
/// Update cell as free
/// </summary>
/// <param name="cell">The cell</param>
public void UpdateSetFree(LogOddsCell cell)
{
cell.Value += logOddsFree;
}
