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CDetectorDoorCrossing.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef CDetectorDoorCrossing_H
10#define CDetectorDoorCrossing_H
11
13#include <mrpt/obs/CRawlog.h>
14#include <mrpt/poses/CPose2D.h>
19
21
22namespace mrpt
23{
24namespace detectors
25{
26
27 /**
28 *
29 * \sa CPointsMap \ingroup mrpt_slam_grp
30 */
32 {
33 public:
34 /** The constructor. See options for customizing the default parameters.
35 *
36 */
38
39 /** In this structure parameters can be changed to customize the
40 * behaviour of this algorithm.
41 */
43 {
44 TOptions() : windowSize(5), gridResolution(0.2f) //, gridUpdateFactor(0.5)
45 {
46 }
47
48 /** The window size, in (action,observations) pairs;min. value is 2.
49 */
50 unsigned int windowSize;
51
52 float gridResolution; //,gridUpdateFactor;
53
54 } options;
55
56
57 /** A structure used as output in this method.
58 * \sa process
59 */
61 {
63 enoughtInformation(false),
64 doorCrossingLikelihood(0),
65 informationGain(0),
66 cumulativeTurning(0),
67 pointsMap()
68 {
69 };
70
71 /** If this is false, all other output fields must not be
72 * taken into account since there is not yet enought information
73 * to fill the required observations window size.
74 */
76
77 /** The likelihood of having just entering a new room, in
78 * the range [0,1]
79 */
81
82 /** The gain in information produced by the last observation, in "bits".
83 */
85
86 /** The cumulative turning of the robot in radians for the movements in the "window"
87 */
89
91 };
92
93 /** The main method, where a new action/observation pair is added to the list.
94 * Here the list of old observations is updated, and a value with the probability
95 * of having pass a door is returned.
96 * \param in_poseChange The odometry (or any other meanway) based change in the robot pose since last observation to this one.
97 * \param in_sf The observations.
98 * \param out_estimation The estimation results.
99 *
100 * \sa TDoorCrossingOutParams
101 */
103 mrpt::obs::CActionRobotMovement2D & in_poseChange,
105 TDoorCrossingOutParams & out_estimation
106 );
107
108 /** Reset the detector, i.e. it erases all previous observations.
109 */
110 void clear();
111
112 private:
113 /** The last observations and consecutive actions are stored here:
114 * Indexes (0,1) is the earlier (act,obs) pair, and the lastest pair
115 * is in indexes ((M-1)*2,(M-1)*2-1).
116 * Always contains (Action, Observation) pairs, in that order.
117 */
119
120 /** Entropy of current, and last "map patchs". */
123
124
125
126 };
127
128 } // End of namespace
129} // End of namespace
130
131#endif
mrpt::obs::CRawlog lastObs
The last observations and consecutive actions are stored here: Indexes (0,1) is the earlier (act,...
void clear()
Reset the detector, i.e.
void process(mrpt::obs::CActionRobotMovement2D &in_poseChange, mrpt::obs::CSensoryFrame &in_sf, TDoorCrossingOutParams &out_estimation)
The main method, where a new action/observation pair is added to the list.
mrpt::maps::COccupancyGridMap2D::TEntropyInfo entropy
Entropy of current, and last "map patchs".
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
Represents a probabilistic 2D movement of the robot mobile base.
This class stores a rawlog (robotic datasets) in one of two possible formats:
Definition obs/CRawlog.h:53
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
This base class provides a common printf-like method to send debug information to std::cout,...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
float doorCrossingLikelihood
The likelihood of having just entering a new room, in the range [0,1].
float informationGain
The gain in information produced by the last observation, in "bits".
bool enoughtInformation
If this is false, all other output fields must not be taken into account since there is not yet enoug...
float cumulativeTurning
The cumulative turning of the robot in radians for the movements in the "window".
In this structure parameters can be changed to customize the behaviour of this algorithm.
unsigned int windowSize
The window size, in (action,observations) pairs;min.
Used for returning entropy related information.



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