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<div class="title">CDetectorDoorCrossing.h</div> </div>
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<a href="_c_detector_door_crossing_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 CDetectorDoorCrossing_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CDetectorDoorCrossing_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_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_rawlog_8h.html">mrpt/slam/CRawlog.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_pose2_d_8h.html">mrpt/poses/CPose2D.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_sensory_frame_8h.html">mrpt/slam/CSensoryFrame.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_simple_points_map_8h.html">mrpt/slam/CSimplePointsMap.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_occupancy_grid_map2_d_8h.html">mrpt/slam/COccupancyGridMap2D.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_action_robot_movement2_d_8h.html">mrpt/slam/CActionRobotMovement2D.h</a>></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="preprocessor">#include <<a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html">mrpt/slam/link_pragmas.h</a>></span>
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="keyword">namespace </span>mrpt
<a name="l00042"></a>00042 {
<a name="l00043"></a>00043 <span class="keyword">namespace </span>slam
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment"> /**</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * \sa CPointsMap \ingroup mrpt_slam_grp</span>
<a name="l00049"></a>00049 <span class="comment"> */</span>
<a name="l00050"></a>00050 <span class="keyword">class </span><a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> CDetectorDoorCrossing : <span class="keyword">public</span> utils::CDebugOutputCapable
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00053"></a>00053 <span class="comment"> /** The constructor. See options for customizing the default parameters.</span>
<a name="l00054"></a>00054 <span class="comment"> *</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a>00056 CDetectorDoorCrossing() ;
<a name="l00057"></a>00057 <span class="comment"></span>
<a name="l00058"></a>00058 <span class="comment"> /** In this structure parameters can be changed to customize the</span>
<a name="l00059"></a>00059 <span class="comment"> * behaviour of this algorithm.</span>
<a name="l00060"></a>00060 <span class="comment"> */</span>
<a name="l00061"></a>00061 <span class="keyword">struct </span><a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> TOptions
<a name="l00062"></a>00062 {
<a name="l00063"></a><a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_options.html#a5ebe66786453b41ac6db90b76a8e24a5">00063</a> <a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_options.html" title="In this structure parameters can be changed to customize the behaviour of this algorithm.">TOptions</a>() : windowSize(5), gridResolution(0.2f) <span class="comment">//, gridUpdateFactor(0.5)</span>
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066 <span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment"> /** The window size, in (action,observations) pairs;min. value is 2.</span>
<a name="l00068"></a>00068 <span class="comment"> */</span>
<a name="l00069"></a><a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_options.html#a8f4f3d0b08c4b72d391cec4871e8bc06">00069</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_options.html#a8f4f3d0b08c4b72d391cec4871e8bc06" title="The window size, in (action,observations) pairs;min.">windowSize</a>;
<a name="l00070"></a>00070
<a name="l00071"></a><a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_options.html#af3fed0c052e7c731938e69f4dac7d800">00071</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_options.html#af3fed0c052e7c731938e69f4dac7d800">gridResolution</a>; <span class="comment">//,gridUpdateFactor;</span>
<a name="l00072"></a>00072
<a name="l00073"></a>00073 } options;
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"> /** A structure used as output in this method.</span>
<a name="l00077"></a>00077 <span class="comment"> * \sa process</span>
<a name="l00078"></a>00078 <span class="comment"> */</span>
<a name="l00079"></a>00079 <span class="keyword">struct </span><a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> <a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html" title="A structure used as output in this method.">TDoorCrossingOutParams</a>
<a name="l00080"></a>00080 {
<a name="l00081"></a><a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html#a619deb4e667c3604df57d21ab6838d9e">00081</a> <a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html" title="A structure used as output in this method.">TDoorCrossingOutParams</a>() :
<a name="l00082"></a>00082 enoughtInformation(false),
<a name="l00083"></a>00083 doorCrossingLikelihood(0),
<a name="l00084"></a>00084 informationGain(0),
<a name="l00085"></a>00085 cumulativeTurning(0),
<a name="l00086"></a>00086 pointsMap()
<a name="l00087"></a>00087 {
<a name="l00088"></a><a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html#a26df33890b264276c3cf498da18d353a">00088</a> };
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** If this is false, all other output fields must not be</span>
<a name="l00091"></a>00091 <span class="comment"> * taken into account since there is not yet enought information</span>
<a name="l00092"></a>00092 <span class="comment"> * to fill the required observations window size.</span>
<a name="l00093"></a>00093 <span class="comment"> */</span>
<a name="l00094"></a>00094 <span class="keywordtype">bool</span> enoughtInformation;
<a name="l00095"></a>00095 <span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /** The likelihood of having just entering a new room, in</span>
<a name="l00097"></a>00097 <span class="comment"> * the range [0,1]</span>
<a name="l00098"></a>00098 <span class="comment"> */</span>
<a name="l00099"></a><a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html#a3a8bbf3a91d6808b9cae9a1e3fbdd74b">00099</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html#a3a8bbf3a91d6808b9cae9a1e3fbdd74b" title="The likelihood of having just entering a new room, in the range [0,1].">doorCrossingLikelihood</a>;
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** The gain in information produced by the last observation, in "bits".</span>
<a name="l00102"></a>00102 <span class="comment"> */</span>
<a name="l00103"></a><a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html#a78c262578d27b843d0f11a65ad40ffbe">00103</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html#a78c262578d27b843d0f11a65ad40ffbe" title="The gain in information produced by the last observation, in "bits".">informationGain</a>;
<a name="l00104"></a>00104 <span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment"> /** The cumulative turning of the robot in radians for the movements in the "window"</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a><a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html#ada0b47b56c3e62440f9c75579e0857d4">00107</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html#ada0b47b56c3e62440f9c75579e0857d4" title="The cumulative turning of the robot in radians for the movements in the "window".">cumulativeTurning</a>;
<a name="l00108"></a>00108
<a name="l00109"></a><a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html#afad0796ee84d90e69fa83147834a81cf">00109</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.">CSimplePointsMap</a> <a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html#afad0796ee84d90e69fa83147834a81cf">pointsMap</a>;
<a name="l00110"></a>00110 };
<a name="l00111"></a>00111 <span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment"> /** The main method, where a new action/observation pair is added to the list.</span>
<a name="l00113"></a>00113 <span class="comment"> * Here the list of old observations is updated, and a value with the probability</span>
<a name="l00114"></a>00114 <span class="comment"> * of having pass a door is returned.</span>
<a name="l00115"></a>00115 <span class="comment"> * \param in_poseChange The odometry (or any other meanway) based change in the robot pose since last observation to this one.</span>
<a name="l00116"></a>00116 <span class="comment"> * \param in_sf The observations.</span>
<a name="l00117"></a>00117 <span class="comment"> * \param out_estimation The estimation results.</span>
<a name="l00118"></a>00118 <span class="comment"> *</span>
<a name="l00119"></a>00119 <span class="comment"> * \sa TDoorCrossingOutParams</span>
<a name="l00120"></a>00120 <span class="comment"> */</span>
<a name="l00121"></a>00121 <span class="keywordtype">void</span> process(
<a name="l00122"></a>00122 <a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html" title="Represents a probabilistic 2D movement of the robot mobile base.">CActionRobotMovement2D</a> &in_poseChange,
<a name="l00123"></a>00123 <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a> &in_sf,
<a name="l00124"></a>00124 <a class="code" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html" title="A structure used as output in this method.">TDoorCrossingOutParams</a> &out_estimation
<a name="l00125"></a>00125 );
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment"> /** Reset the detector, i.e. it erases all previous observations.</span>
<a name="l00128"></a>00128 <span class="comment"> */</span>
<a name="l00129"></a>00129 <span class="keywordtype">void</span> clear();
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment"> /** The last observations and consecutive actions are stored here:</span>
<a name="l00133"></a>00133 <span class="comment"> * Indexes (0,1) is the earlier (act,obs) pair, and the lastest pair</span>
<a name="l00134"></a>00134 <span class="comment"> * is in indexes ((M-1)*2,(M-1)*2-1).</span>
<a name="l00135"></a>00135 <span class="comment"> * Always contains (Action, Observation) pairs, in that order.</span>
<a name="l00136"></a>00136 <span class="comment"> */</span>
<a name="l00137"></a><a class="code" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#afa4475eae18539b5b6cc8a5f2e1ce052">00137</a> <a class="code" href="classmrpt_1_1slam_1_1_c_rawlog.html" title="This class stores a rawlog (robotic datasets) in one of two possible formats:">CRawlog</a> <a class="code" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#afa4475eae18539b5b6cc8a5f2e1ce052" title="The last observations and consecutive actions are stored here: Indexes (0,1) is the earlier (act...">lastObs</a>;
<a name="l00138"></a>00138 <span class="comment"></span>
<a name="l00139"></a>00139 <span class="comment"> /** Entropy of current, and last "map patchs".</span>
<a name="l00140"></a>00140 <span class="comment"> */</span>
<a name="l00141"></a><a class="code" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#a0715f310d95a1f7239eb22d87ca10fd4">00141</a> <a class="code" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html" title="A class for storing an occupancy grid map.">COccupancyGridMap2D</a>::TEntropyInfo entropy, <a class="code" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#a0715f310d95a1f7239eb22d87ca10fd4">lastEntropy</a>;
<a name="l00142"></a><a class="code" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#afd8a4ef68be73cd97da8d132bfd89854">00142</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#afd8a4ef68be73cd97da8d132bfd89854">lastEntropyValid</a>;
<a name="l00143"></a>00143
<a name="l00144"></a>00144
<a name="l00145"></a>00145
<a name="l00146"></a>00146 };
<a name="l00147"></a>00147
<a name="l00148"></a>00148 } <span class="comment">// End of namespace</span>
<a name="l00149"></a>00149 } <span class="comment">// End of namespace</span>
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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