/// <summary> /// Get the probability of detection of a particular landmark /// using measurement coordinates to express the landmark. /// It is modelled as a constant if it's on the FOV and zero if not. /// </summary> /// <param name="measurement">Queried landmark in measurmeent coordinates.</param> /// <returns></returns> public double DetectionProbabilityM(MeasurementT measurement) { return(Measurer.FuzzyVisibleM(measurement) * detectionProbability); }
/// <summary> /// Get the probability of detection of a particular landmark. /// It is modelled as a constant if it's on the FOV and zero if not. /// </summary> /// <param name="landmark">Queried landmark.</param> /// <returns></returns> public double DetectionProbability(double[] landmark) { return(Measurer.FuzzyVisibleM(Measurer.MeasurePerfect(Pose, landmark)) * detectionProbability); }