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<div class="title">CObservationGasSensors.h</div> </div>
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<a href="_c_observation_gas_sensors_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CObservationGasSensors_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CObservationGasSensors_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_observation_8h.html">mrpt/slam/CObservation.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_pose2_d_8h.html">mrpt/poses/CPose2D.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>slam
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040
<a name="l00041"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_ptr.html#af8c21cacb62b180c719b340034d3634c">00041</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html" title="Declares a class derived from "CObservation" that represents a set of readings from gas sensors...">CObservationGasSensors</a> , <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a>, <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a>)
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">/** Declares a class derived from "CObservation" that represents a set of readings from gas sensors.</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * \sa CObservation</span>
<a name="l00046"></a>00046 <span class="comment"> * \ingroup mrpt_obs_grp</span>
<a name="l00047"></a>00047 <span class="comment"> */</span>
<a name="l00048"></a>00048 class <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html" title="Declares a class derived from "CObservation" that represents a set of readings from gas sensors...">CObservationGasSensors</a> : public <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a>
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00051"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html#a3f3c7d9c66cfca7bfefc5979fd4bb1a1">00051</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html" title="Declares a class derived from "CObservation" that represents a set of readings from gas sensors...">CObservationGasSensors</a> )
<a name="l00052"></a>00052
<a name="l00053"></a>00053 public:<span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment"> /** Constructor.</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a>00056 <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html" title="Declares a class derived from "CObservation" that represents a set of readings from gas sensors...">CObservationGasSensors</a>( );
<a name="l00057"></a>00057 <span class="comment"></span>
<a name="l00058"></a>00058 <span class="comment"> /** The structure for each e-nose</span>
<a name="l00059"></a>00059 <span class="comment"> */</span>
<a name="l00060"></a>00060 struct <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html" title="The structure for each e-nose.">TObservationENose</a>
<a name="l00061"></a>00061 {
<a name="l00062"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#aee718c5b0bdded08962f92daae529e30">00062</a> TObservationENose() :
<a name="l00063"></a>00063 eNosePoseOnTheRobot(),
<a name="l00064"></a>00064 readingsVoltage(),
<a name="l00065"></a>00065 sensorTypes(),
<a name="l00066"></a>00066 hasTemperature(false),
<a name="l00067"></a>00067 temperature()
<a name="l00068"></a>00068 {}
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** The pose of the sensors on the robot</span>
<a name="l00071"></a>00071 <span class="comment"> */</span>
<a name="l00072"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#a737afe296cbe66159cc52e515f7f8761">00072</a> math<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">::TPose3D</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#a737afe296cbe66159cc52e515f7f8761" title="The pose of the sensors on the robot.">eNosePoseOnTheRobot</a>;
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /** The set of readings (in volts) from the array of sensors (size of "sensorTypes" is the same that the size of "readingsVoltage")</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#a7d5a5d6464bc5ddbbe1178d12e81c9cd">00076</a> std<a class="code" href="classstd_1_1vector.html">::vector<float></a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#a7d5a5d6464bc5ddbbe1178d12e81c9cd" title="The set of readings (in volts) from the array of sensors (size of "sensorTypes" is the same that the ...">readingsVoltage</a>;
<a name="l00077"></a>00077 <span class="comment"></span>
<a name="l00078"></a>00078 <span class="comment"> /** The kind of sensors in the array (size of "sensorTypes" is the same that the size of "readingsVoltage")</span>
<a name="l00079"></a>00079 <span class="comment"> * The meaning of values for types of sensors is as follows:</span>
<a name="l00080"></a>00080 <span class="comment"> * 0x0000 : No sensor installed in this slot</span>
<a name="l00081"></a>00081 <span class="comment"> * 0x2600 : Figaro TGS 2600</span>
<a name="l00082"></a>00082 <span class="comment"> * 0x2602 : Figaro TGS 2602</span>
<a name="l00083"></a>00083 <span class="comment"> * 0x2620 : Figaro TGS 2620</span>
<a name="l00084"></a>00084 <span class="comment"> * 0x4161 : Figaro TGS 4161</span>
<a name="l00085"></a>00085 <span class="comment"> */</span>
<a name="l00086"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#ad5e29eeb078ed1031d6132bf1f4a709a">00086</a> <a class="code" href="classstd_1_1vector.html" title="STL class.">vector_int</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#ad5e29eeb078ed1031d6132bf1f4a709a" title="The kind of sensors in the array (size of "sensorTypes" is the same that the size of "readingsVoltage...">sensorTypes</a>;
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** Must be true for "temperature" to contain a valid measurement</span>
<a name="l00089"></a>00089 <span class="comment"> */</span>
<a name="l00090"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#a9b8ea078924328bb98469041115963a8">00090</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#a9b8ea078924328bb98469041115963a8" title="Must be true for "temperature" to contain a valid measurement.">hasTemperature</a>;
<a name="l00091"></a>00091 <span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment"> /** Sensed temperature in Celcius (valid if hasTemperature=true only)</span>
<a name="l00093"></a>00093 <span class="comment"> */</span>
<a name="l00094"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#a424fcac10947a6bebeb80d4343a83912">00094</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#a424fcac10947a6bebeb80d4343a83912" title="Sensed temperature in Celcius (valid if hasTemperature=true only)">temperature</a>;
<a name="l00095"></a>00095 <span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /** True if the input to this chamber/enose is poluted air, False if clean air</span>
<a name="l00097"></a>00097 <span class="comment"> */</span>
<a name="l00098"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#aeab99011656b1c390c18ae8628f1fc56">00098</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_t_observation_e_nose.html#aeab99011656b1c390c18ae8628f1fc56" title="True if the input to this chamber/enose is poluted air, False if clean air.">isActive</a>;
<a name="l00099"></a>00099
<a name="l00100"></a>00100 };
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** One entry per e-nose on the robot.</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html#a267e6cae6fb63f3ed98212bcac07bb4f">00104</a> std<a class="code" href="classstd_1_1vector.html">::vector<TObservationENose></a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html#a267e6cae6fb63f3ed98212bcac07bb4f" title="One entry per e-nose on the robot.">m_readings</a>;
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** A general method to retrieve the sensor pose on the robot.</span>
<a name="l00107"></a>00107 <span class="comment"> * Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.</span>
<a name="l00108"></a>00108 <span class="comment"> * \sa setSensorPose</span>
<a name="l00109"></a>00109 <span class="comment"> */</span>
<a name="l00110"></a>00110 <span class="keywordtype">void</span> getSensorPose( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &out_sensorPose ) <span class="keyword">const</span>;
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="comment"></span>
<a name="l00113"></a>00113 <span class="comment"> /** A general method to change the sensor pose on the robot.</span>
<a name="l00114"></a>00114 <span class="comment"> * Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.</span>
<a name="l00115"></a>00115 <span class="comment"> * \sa getSensorPose</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a>00117 <span class="keywordtype">void</span> setSensorPose( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &newSensorPose );
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** Declares a class within "CObservationGasSensors" that represents a set of gas concentration readings from the modelation of a MOS gas sensor readings.</span>
<a name="l00121"></a>00121 <span class="comment"> * This class provides the parameters and functions to simulate the inverse model of a MOS gas sensor.</span>
<a name="l00122"></a>00122 <span class="comment"> *</span>
<a name="l00123"></a>00123 <span class="comment"> * \sa CObservationGasSensors</span>
<a name="l00124"></a>00124 <span class="comment"> */</span>
<a name="l00125"></a>00125 <span class="keyword">class </span><a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html" title="Declares a class within "CObservationGasSensors" that represents a set of gas concentration readings ...">CMOSmodel</a>
<a name="l00126"></a>00126 {
<a name="l00127"></a>00127
<a name="l00128"></a>00128 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00129"></a>00129 <span class="comment"> /** Constructor</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a>00131 <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html" title="Declares a class within "CObservationGasSensors" that represents a set of gas concentration readings ...">CMOSmodel</a>();
<a name="l00132"></a>00132 ~<a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html" title="Declares a class within "CObservationGasSensors" that represents a set of gas concentration readings ...">CMOSmodel</a>();
<a name="l00133"></a>00133 <span class="comment"></span>
<a name="l00134"></a>00134 <span class="comment"> /** @name MOS-model parameters</span>
<a name="l00135"></a>00135 <span class="comment"> * @{ */</span>
<a name="l00136"></a>00136
<a name="l00137"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a914db8f294afba42f8c407aa10178b5a">00137</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a914db8f294afba42f8c407aa10178b5a" title="The size of the mobile average window used to reduce noise on sensor reagings.">winNoise_size</a>; <span class="comment">//!< The size of the mobile average window used to reduce noise on sensor reagings.</span>
<a name="l00138"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ab6c29d8abd4e4656df78914003160dad">00138</a> <span class="comment"></span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ab6c29d8abd4e4656df78914003160dad" title="[useMOSmodel] The decimate frecuency applied after noise filtering">decimate_value</a>; <span class="comment">//!< [useMOSmodel] The decimate frecuency applied after noise filtering</span>
<a name="l00139"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a1b8aae1541fd4d0f67e73e514b636a94">00139</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a1b8aae1541fd4d0f67e73e514b636a94" title="Tau value for the rise (tauR) sensor phase.">tauR</a>; <span class="comment">//!< Tau value for the rise (tauR) sensor phase.</span>
<a name="l00140"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a83e6508dc54e0cfbb577460432bc558f">00140</a> <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a83e6508dc54e0cfbb577460432bc558f" title="The number of observations to keep in m_lastObservations (Must be > max(delay) )">lastObservations_size</a>; <span class="comment">//!< The number of observations to keep in m_lastObservations (Must be > max(delay) )</span>
<a name="l00141"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a28b526f78cfbc4785e97445984512533">00141</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a28b526f78cfbc4785e97445984512533" title="Calibrated values of K= 1/tauD for different volatile concentrations.">calibrated_tauD_voltages</a>; <span class="comment">//!< Calibrated values of K= 1/tauD for different volatile concentrations</span>
<a name="l00142"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ae77ac2a88c2237a872da3034ec26802c">00142</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ae77ac2a88c2237a872da3034ec26802c" title="Calibrated values of K= 1/tauD for different volatile concentrations.">calibrated_tauD_values</a>; <span class="comment">//!< Calibrated values of K= 1/tauD for different volatile concentrations</span>
<a name="l00143"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a09ccaa5bc3caa3e185cc685374b9e071">00143</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a09ccaa5bc3caa3e185cc685374b9e071" title="Calibrated values of the delay for different robot speeds.">calibrated_delay_RobotSpeeds</a>; <span class="comment">//!< Calibrated values of the delay for different robot speeds</span>
<a name="l00144"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a1f2fe725a7188a92cd0be2737ec58671">00144</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a1f2fe725a7188a92cd0be2737ec58671" title="Calibrated values of the delay for different robot speeds.">calibrated_delay_values</a>; <span class="comment">//!< Calibrated values of the delay for different robot speeds</span>
<a name="l00145"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a7bced9e0d7d251fcd55ae5a26291268c">00145</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a7bced9e0d7d251fcd55ae5a26291268c" title="If true save generated gas map as a log file.">save_maplog</a>; <span class="comment">//!< If true save generated gas map as a log file</span>
<a name="l00146"></a>00146 <span class="comment"></span><span class="comment"></span>
<a name="l00147"></a>00147 <span class="comment"> /** @} */</span>
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment"> /** Obtain an estimation of the gas distribution based on raw sensor readings */</span>
<a name="l00150"></a>00150 <span class="keywordtype">bool</span> get_GasDistribution_estimation(
<a name="l00151"></a>00151 <span class="keywordtype">float</span> &reading,
<a name="l00152"></a>00152 <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &sensorPose,
<a name="l00153"></a>00153 <span class="keyword">const</span> <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">mrpt::system::TTimeStamp</a> &timestamp );
<a name="l00154"></a>00154
<a name="l00155"></a>00155 <span class="keyword">protected</span>:
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment"> /** The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmodel =1)</span>
<a name="l00158"></a>00158 <span class="comment"> */</span>
<a name="l00159"></a>00159 <span class="keyword">struct </span><a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html" title="The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmod...">TdataMap</a>
<a name="l00160"></a>00160 {
<a name="l00161"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a6cd24232ad443e7a9cc4193e54e5818d">00161</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a6cd24232ad443e7a9cc4193e54e5818d">reading</a>;
<a name="l00162"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a0251e7789a6d0446daf0e56f12c84ab6">00162</a> mrpt<a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">::system::TTimeStamp</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a0251e7789a6d0446daf0e56f12c84ab6">timestamp</a>;
<a name="l00163"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a6ca33fc0d92a249c0d3810d1c0bec548">00163</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a6ca33fc0d92a249c0d3810d1c0bec548">k</a>;
<a name="l00164"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a05014a139b68a332ae45b61c1d751abe">00164</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a05014a139b68a332ae45b61c1d751abe">sensorPose</a>;
<a name="l00165"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a26d6b63f39bd40c2de53c1244b5e8619">00165</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a26d6b63f39bd40c2de53c1244b5e8619">estimation</a>;
<a name="l00166"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a8dc62edca4a4ae68901964552124cd0e">00166</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a8dc62edca4a4ae68901964552124cd0e">reading_filtered</a>;
<a name="l00167"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a0dfefa51bad789d1ed24cbe153208f43">00167</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html#a0dfefa51bad789d1ed24cbe153208f43">speed</a>;
<a name="l00168"></a>00168 };
<a name="l00169"></a>00169
<a name="l00170"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#acd04ad9b26a779fd68c484b4161adba4">00170</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html" title="The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmod...">TdataMap</a> last_Obs, <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#acd04ad9b26a779fd68c484b4161adba4" title="The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmod...">temporal_Obs</a>; <span class="comment">//!< The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmodel =1)</span>
<a name="l00171"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#adc307bb24f00c66e8677ef08a90d5b93">00171</a> <span class="comment"></span> std<a class="code" href="classstd_1_1vector.html">::vector<TdataMap></a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#adc307bb24f00c66e8677ef08a90d5b93" title="The last N GasObservations, used for the MOS MODEL estimation.">m_lastObservations</a>; <span class="comment">//!< The last N GasObservations, used for the MOS MODEL estimation.</span>
<a name="l00172"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a48eca00a299dc67a9bd92b8bc12ad542">00172</a> <span class="comment"></span> std<a class="code" href="classstd_1_1vector.html">::vector<TdataMap></a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a48eca00a299dc67a9bd92b8bc12ad542" title="Vector to temporally store and averge readings to reduce noise.">m_antiNoise_window</a>; <span class="comment">//!< Vector to temporally store and averge readings to reduce noise</span>
<a name="l00173"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a5c31899e24749d4ecefee333530ba97d">00173</a> <span class="comment"></span> std<a class="code" href="classstd_1_1ofstream.html" title="STL class.">::ofstream</a> *<a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a5c31899e24749d4ecefee333530ba97d" title="Ofstream to save to file option "save_maplog".">m_debug_dump</a>; <span class="comment">//!< Ofstream to save to file option "save_maplog"</span>
<a name="l00174"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a88d21fd1d7d11970a40e628da0ee3027">00174</a> <span class="comment"></span> uint16_t <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a88d21fd1d7d11970a40e628da0ee3027" title="Decimate value for oversampled enose readings.">decimate_count</a>; <span class="comment">//!< Decimate value for oversampled enose readings</span>
<a name="l00175"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#acb3d1a9aead6bccd2685a602c8031f52">00175</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#acb3d1a9aead6bccd2685a602c8031f52" title="To force e-nose samples to have fixed time increments.">fixed_incT</a>; <span class="comment">//!< To force e-nose samples to have fixed time increments</span>
<a name="l00176"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ae7ef07e4fcb45bbda2ca86f4d06fe3f6">00176</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ae7ef07e4fcb45bbda2ca86f4d06fe3f6" title="To force e-nose samples to have fixed time increments.">first_incT</a>; <span class="comment">//!< To force e-nose samples to have fixed time increments</span>
<a name="l00177"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#aab28e2b154cb425ab0359ea9d15b2a16">00177</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#aab28e2b154cb425ab0359ea9d15b2a16">min_reading</a>;
<a name="l00178"></a>00178 <span class="comment"></span>
<a name="l00179"></a>00179 <span class="comment"> /** Estimates the gas concentration based on readings and sensor model</span>
<a name="l00180"></a>00180 <span class="comment"> */</span>
<a name="l00181"></a>00181 <span class="keywordtype">void</span> inverse_MOSmodeling (
<a name="l00182"></a>00182 <span class="keyword">const</span> <span class="keywordtype">float</span> &reading,
<a name="l00183"></a>00183 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &sensorPose,
<a name="l00184"></a>00184 <span class="keyword">const</span> <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">mrpt::system::TTimeStamp</a> &timestamp);
<a name="l00185"></a>00185 <span class="comment"></span>
<a name="l00186"></a>00186 <span class="comment"> /** Reduce noise by averaging with a mobile window of specific size (winNoise_size)</span>
<a name="l00187"></a>00187 <span class="comment"> */</span>
<a name="l00188"></a>00188 <span class="keywordtype">void</span> noise_filtering (
<a name="l00189"></a>00189 <span class="keyword">const</span> <span class="keywordtype">float</span> &reading,
<a name="l00190"></a>00190 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &sensorPose,
<a name="l00191"></a>00191 <span class="keyword">const</span> <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">mrpt::system::TTimeStamp</a> &timestamp );
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a>00193 <span class="comment"> /** Save the gas distribution estiamtion into a log file for offline representation</span>
<a name="l00194"></a>00194 <span class="comment"> */</span>
<a name="l00195"></a>00195 <span class="keywordtype">void</span> save_log_map(
<a name="l00196"></a>00196 <span class="keyword">const</span> <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">mrpt::system::TTimeStamp</a> &timestamp,
<a name="l00197"></a>00197 <span class="keyword">const</span> <span class="keywordtype">float</span> &reading,
<a name="l00198"></a>00198 <span class="keyword">const</span> <span class="keywordtype">float</span> &estimation,
<a name="l00199"></a>00199 <span class="keyword">const</span> <span class="keywordtype">float</span> &k,
<a name="l00200"></a>00200 <span class="keyword">const</span> <span class="keywordtype">double</span> &yaw,
<a name="l00201"></a>00201 <span class="keyword">const</span> <span class="keywordtype">float</span> &speed);
<a name="l00202"></a>00202
<a name="l00203"></a>00203 }; <span class="comment">//End of CMOSmodel class def.</span>
<a name="l00204"></a>00204
<a name="l00205"></a>00205 }; <span class="comment">// End of class def.</span>
<a name="l00206"></a>00206
<a name="l00207"></a>00207
<a name="l00208"></a>00208 } <span class="comment">// End of namespace</span>
<a name="l00209"></a>00209 } <span class="comment">// End of namespace</span>
<a name="l00210"></a>00210
<a name="l00211"></a>00211 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
