/// <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);
}