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<div class="title">mrpt::slam::CDetectorDoorCrossing Class Reference<div class="ingroups"><a class="el" href="group__mrpt__slam__grp.html">[mrpt-slam]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CDetectorDoorCrossing" --><!-- doxytag: inherits="mrpt::utils::CDebugOutputCapable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...">CPointsMap</a> </dd></dl>
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<p><code>#include <<a class="el" href="_c_detector_door_crossing_8h_source.html">mrpt/slam/CDetectorDoorCrossing.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CDetectorDoorCrossing:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_detector_door_crossing__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_detector_door_crossing_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_detector_door_crossing_inherit__map" id="mrpt_1_1slam_1_1_c_detector_door_crossing_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html" title="This base class provides a common printf-like method to send debug information to std::cout..." alt="" coords="10,5,232,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_detector_door_crossing-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html">TDoorCrossingOutParams</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A structure used as output in this method. <a href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_options.html">TOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">In this structure parameters can be changed to customize the behaviour of this algorithm. <a href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_options.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#a8f9c2afb246c127f9b4734abe84bd3fb">CDetectorDoorCrossing</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The constructor. <a href="#a8f9c2afb246c127f9b4734abe84bd3fb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#a25c23910307a11fdd26a1395161da983">process</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html">CActionRobotMovement2D</a> &in_poseChange, <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> &in_sf, <a class="el" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html">TDoorCrossingOutParams</a> &out_estimation)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The main method, where a new action/observation pair is added to the list. <a href="#a25c23910307a11fdd26a1395161da983"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#afd4d7134350ad0ae278e743adb712f08">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reset the detector, i.e. <a href="#afd4d7134350ad0ae278e743adb712f08"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html#ab78281b5d70d6e295a8527a10fea66de">printf_debug</a> (const char *frmt,...)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sends a formated text to "debugOut" if not NULL, or to cout otherwise. <a href="#ab78281b5d70d6e295a8527a10fea66de"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct SLAM_IMPEXP <br class="typebreak"/>
<a class="el" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_options.html">mrpt::slam::CDetectorDoorCrossing::TOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#a711658508da735ec986e26bbdd5fc6ca">options</a></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html">CRawlog</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#afa4475eae18539b5b6cc8a5f2e1ce052">lastObs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The last observations and consecutive actions are stored here: Indexes (0,1) is the earlier (act,obs) pair, and the lastest pair is in indexes ((M-1)*2,(M-1)*2-1). <a href="#afa4475eae18539b5b6cc8a5f2e1ce052"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info.html">COccupancyGridMap2D::TEntropyInfo</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#a6ed8077dca435087a7fbc130ec3a3a40">entropy</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Entropy of current, and last "map patchs". <a href="#a6ed8077dca435087a7fbc130ec3a3a40"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info.html">COccupancyGridMap2D::TEntropyInfo</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#a0715f310d95a1f7239eb22d87ca10fd4">lastEntropy</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#afd8a4ef68be73cd97da8d132bfd89854">lastEntropyValid</a></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a8f9c2afb246c127f9b4734abe84bd3fb"></a><!-- doxytag: member="mrpt::slam::CDetectorDoorCrossing::CDetectorDoorCrossing" ref="a8f9c2afb246c127f9b4734abe84bd3fb" args="()" -->
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<td class="memname">mrpt::slam::CDetectorDoorCrossing::CDetectorDoorCrossing </td>
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<p>The constructor. </p>
<p>See options for customizing the default parameters. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="afd4d7134350ad0ae278e743adb712f08"></a><!-- doxytag: member="mrpt::slam::CDetectorDoorCrossing::clear" ref="afd4d7134350ad0ae278e743adb712f08" args="()" -->
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<td class="memname">void mrpt::slam::CDetectorDoorCrossing::clear </td>
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<p>Reset the detector, i.e. </p>
<p>it erases all previous observations. </p>
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<a class="anchor" id="ab78281b5d70d6e295a8527a10fea66de"></a><!-- doxytag: member="mrpt::slam::CDetectorDoorCrossing::printf_debug" ref="ab78281b5d70d6e295a8527a10fea66de" args="(const char *frmt,...)" -->
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<td class="memname">static void mrpt::utils::CDebugOutputCapable::printf_debug </td>
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<td class="paramtype">const char * </td>
<td class="paramname"><em>frmt</em>, </td>
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<p>Sends a formated text to "debugOut" if not NULL, or to cout otherwise. </p>
<p>Referenced by <a class="el" href="_c_levenberg_marquardt_8h_source.html#l00098">mrpt::math::CLevenbergMarquardtTempl::execute()</a>.</p>
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<a class="anchor" id="a25c23910307a11fdd26a1395161da983"></a><!-- doxytag: member="mrpt::slam::CDetectorDoorCrossing::process" ref="a25c23910307a11fdd26a1395161da983" args="(CActionRobotMovement2D &in_poseChange, CSensoryFrame &in_sf, TDoorCrossingOutParams &out_estimation)" -->
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<td class="memname">void mrpt::slam::CDetectorDoorCrossing::process </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html">CActionRobotMovement2D</a> & </td>
<td class="paramname"><em>in_poseChange</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> & </td>
<td class="paramname"><em>in_sf</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype"><a class="el" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_door_crossing_out_params.html">TDoorCrossingOutParams</a> & </td>
<td class="paramname"><em>out_estimation</em> </td>
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<p>The main method, where a new action/observation pair is added to the list. </p>
<p>Here the list of old observations is updated, and a value with the probability of having pass a door is returned. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in_poseChange</td><td>The odometry (or any other meanway) based change in the robot pose since last observation to this one. </td></tr>
<tr><td class="paramname">in_sf</td><td>The observations. </td></tr>
<tr><td class="paramname">out_estimation</td><td>The estimation results.</td></tr>
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</dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a6ed8077dca435087a7fbc130ec3a3a40"></a><!-- doxytag: member="mrpt::slam::CDetectorDoorCrossing::entropy" ref="a6ed8077dca435087a7fbc130ec3a3a40" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info.html">COccupancyGridMap2D::TEntropyInfo</a> <a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#a6ed8077dca435087a7fbc130ec3a3a40">mrpt::slam::CDetectorDoorCrossing::entropy</a><code> [private]</code></td>
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<p>Entropy of current, and last "map patchs". </p>
<p>Definition at line <a class="el" href="_c_detector_door_crossing_8h_source.html#l00141">141</a> of file <a class="el" href="_c_detector_door_crossing_8h_source.html">CDetectorDoorCrossing.h</a>.</p>
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<a class="anchor" id="a0715f310d95a1f7239eb22d87ca10fd4"></a><!-- doxytag: member="mrpt::slam::CDetectorDoorCrossing::lastEntropy" ref="a0715f310d95a1f7239eb22d87ca10fd4" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_entropy_info.html">COccupancyGridMap2D::TEntropyInfo</a> <a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#a0715f310d95a1f7239eb22d87ca10fd4">mrpt::slam::CDetectorDoorCrossing::lastEntropy</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_detector_door_crossing_8h_source.html#l00141">141</a> of file <a class="el" href="_c_detector_door_crossing_8h_source.html">CDetectorDoorCrossing.h</a>.</p>
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<a class="anchor" id="afd8a4ef68be73cd97da8d132bfd89854"></a><!-- doxytag: member="mrpt::slam::CDetectorDoorCrossing::lastEntropyValid" ref="afd8a4ef68be73cd97da8d132bfd89854" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#afd8a4ef68be73cd97da8d132bfd89854">mrpt::slam::CDetectorDoorCrossing::lastEntropyValid</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_detector_door_crossing_8h_source.html#l00142">142</a> of file <a class="el" href="_c_detector_door_crossing_8h_source.html">CDetectorDoorCrossing.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html">CRawlog</a> <a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#afa4475eae18539b5b6cc8a5f2e1ce052">mrpt::slam::CDetectorDoorCrossing::lastObs</a><code> [private]</code></td>
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<p>The last observations and consecutive actions are stored here: Indexes (0,1) is the earlier (act,obs) pair, and the lastest pair is in indexes ((M-1)*2,(M-1)*2-1). </p>
<p>Always contains (Action, Observation) pairs, in that order. </p>
<p>Definition at line <a class="el" href="_c_detector_door_crossing_8h_source.html#l00137">137</a> of file <a class="el" href="_c_detector_door_crossing_8h_source.html">CDetectorDoorCrossing.h</a>.</p>
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<td class="memname">struct SLAM_IMPEXP <a class="el" href="structmrpt_1_1slam_1_1_c_detector_door_crossing_1_1_t_options.html">mrpt::slam::CDetectorDoorCrossing::TOptions</a> <a class="el" href="classmrpt_1_1slam_1_1_c_detector_door_crossing.html#a711658508da735ec986e26bbdd5fc6ca">mrpt::slam::CDetectorDoorCrossing::options</a></td>
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<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>
