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<div class="title">mrpt::slam::CObservationGasSensors::CMOSmodel Class Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::CObservationGasSensors::CMOSmodel" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Declares a class within "CObservationGasSensors" that represents a set of gas concentration readings from the modelation of a MOS gas sensor readings. </p>
<p>This class provides the parameters and functions to simulate the inverse model of a MOS gas sensor.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_observation_gas_sensors_8h_source.html">mrpt/slam/CObservationGasSensors.h</a>></code></p>
<p><a href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel-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_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html">TdataMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmodel =1) <a href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.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_observation_gas_sensors_1_1_c_m_o_smodel.html#aeafbf82feeee42517a4e819ef5a3fc44">CMOSmodel</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#aeafbf82feeee42517a4e819ef5a3fc44"></a><br/></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_observation_gas_sensors_1_1_c_m_o_smodel.html#a8363d6913ce01ff46705c6e77061d44f">~CMOSmodel</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_observation_gas_sensors_1_1_c_m_o_smodel.html#a1aff41199b7ca2ce85c31314f2d6cec7">get_GasDistribution_estimation</a> (float &reading, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &sensorPose, const <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> &<a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ade9177f41827da9121847104e5b0ecd2">timestamp</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Obtain an estimation of the gas distribution based on raw sensor readings. <a href="#a1aff41199b7ca2ce85c31314f2d6cec7"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">MOS-model parameters</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a914db8f294afba42f8c407aa10178b5a">winNoise_size</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The size of the mobile average window used to reduce noise on sensor reagings. <a href="#a914db8f294afba42f8c407aa10178b5a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ab6c29d8abd4e4656df78914003160dad">decimate_value</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[useMOSmodel] The decimate frecuency applied after noise filtering <a href="#ab6c29d8abd4e4656df78914003160dad"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a1b8aae1541fd4d0f67e73e514b636a94">tauR</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Tau value for the rise (tauR) sensor phase. <a href="#a1b8aae1541fd4d0f67e73e514b636a94"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a83e6508dc54e0cfbb577460432bc558f">lastObservations_size</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The number of observations to keep in m_lastObservations (Must be > max(delay) ) <a href="#a83e6508dc54e0cfbb577460432bc558f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a28b526f78cfbc4785e97445984512533">calibrated_tauD_voltages</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calibrated values of K= 1/tauD for different volatile concentrations. <a href="#a28b526f78cfbc4785e97445984512533"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ae77ac2a88c2237a872da3034ec26802c">calibrated_tauD_values</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calibrated values of K= 1/tauD for different volatile concentrations. <a href="#ae77ac2a88c2237a872da3034ec26802c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a09ccaa5bc3caa3e185cc685374b9e071">calibrated_delay_RobotSpeeds</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calibrated values of the delay for different robot speeds. <a href="#a09ccaa5bc3caa3e185cc685374b9e071"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a1f2fe725a7188a92cd0be2737ec58671">calibrated_delay_values</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calibrated values of the delay for different robot speeds. <a href="#a1f2fe725a7188a92cd0be2737ec58671"></a><br/></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_observation_gas_sensors_1_1_c_m_o_smodel.html#a7bced9e0d7d251fcd55ae5a26291268c">save_maplog</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If true save generated gas map as a log file. <a href="#a7bced9e0d7d251fcd55ae5a26291268c"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></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_observation_gas_sensors_1_1_c_m_o_smodel.html#aa43ce77e048b65a23173db4299977281">inverse_MOSmodeling</a> (const float &reading, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &sensorPose, const <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> &<a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ade9177f41827da9121847104e5b0ecd2">timestamp</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Estimates the gas concentration based on readings and sensor model. <a href="#aa43ce77e048b65a23173db4299977281"></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_observation_gas_sensors_1_1_c_m_o_smodel.html#a6ba31f02110ca8f82e8c238b2a544d12">noise_filtering</a> (const float &reading, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &sensorPose, const <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> &<a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ade9177f41827da9121847104e5b0ecd2">timestamp</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reduce noise by averaging with a mobile window of specific size (winNoise_size) <a href="#a6ba31f02110ca8f82e8c238b2a544d12"></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_observation_gas_sensors_1_1_c_m_o_smodel.html#a41f756affafc0f40954f007c6b9b7abe">save_log_map</a> (const <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> &<a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ade9177f41827da9121847104e5b0ecd2">timestamp</a>, const float &reading, const float &estimation, const float &k, const double &yaw, const float &speed)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save the gas distribution estiamtion into a log file for offline representation. <a href="#a41f756affafc0f40954f007c6b9b7abe"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html">TdataMap</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ac768ecc9fa9aca379873c815eaf9008a">last_Obs</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html">TdataMap</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#acd04ad9b26a779fd68c484b4161adba4">temporal_Obs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmodel =1) <a href="#acd04ad9b26a779fd68c484b4161adba4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html">TdataMap</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#adc307bb24f00c66e8677ef08a90d5b93">m_lastObservations</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The last N GasObservations, used for the MOS MODEL estimation. <a href="#adc307bb24f00c66e8677ef08a90d5b93"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html">TdataMap</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a48eca00a299dc67a9bd92b8bc12ad542">m_antiNoise_window</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Vector to temporally store and averge readings to reduce noise. <a href="#a48eca00a299dc67a9bd92b8bc12ad542"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1ofstream.html">std::ofstream</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a5c31899e24749d4ecefee333530ba97d">m_debug_dump</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Ofstream to save to file option "save_maplog". <a href="#a5c31899e24749d4ecefee333530ba97d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a88d21fd1d7d11970a40e628da0ee3027">decimate_count</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Decimate value for oversampled enose readings. <a href="#a88d21fd1d7d11970a40e628da0ee3027"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#acb3d1a9aead6bccd2685a602c8031f52">fixed_incT</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To force e-nose samples to have fixed time increments. <a href="#acb3d1a9aead6bccd2685a602c8031f52"></a><br/></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_observation_gas_sensors_1_1_c_m_o_smodel.html#ae7ef07e4fcb45bbda2ca86f4d06fe3f6">first_incT</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To force e-nose samples to have fixed time increments. <a href="#ae7ef07e4fcb45bbda2ca86f4d06fe3f6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#aab28e2b154cb425ab0359ea9d15b2a16">min_reading</a></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="aeafbf82feeee42517a4e819ef5a3fc44"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::CMOSmodel" ref="aeafbf82feeee42517a4e819ef5a3fc44" args="()" -->
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<td class="memname">mrpt::slam::CObservationGasSensors::CMOSmodel::CMOSmodel </td>
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<p>Constructor. </p>
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<td class="memname">mrpt::slam::CObservationGasSensors::CMOSmodel::~CMOSmodel </td>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a1aff41199b7ca2ce85c31314f2d6cec7"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::get_GasDistribution_estimation" ref="a1aff41199b7ca2ce85c31314f2d6cec7" args="(float &reading, CPose3D &sensorPose, const mrpt::system::TTimeStamp &timestamp)" -->
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<td class="memname">bool mrpt::slam::CObservationGasSensors::CMOSmodel::get_GasDistribution_estimation </td>
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<td class="paramtype">float & </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>sensorPose</em>, </td>
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<td class="paramtype">const <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> & </td>
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<p>Obtain an estimation of the gas distribution based on raw sensor readings. </p>
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<a class="anchor" id="aa43ce77e048b65a23173db4299977281"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::inverse_MOSmodeling" ref="aa43ce77e048b65a23173db4299977281" args="(const float &reading, const CPose3D &sensorPose, const mrpt::system::TTimeStamp &timestamp)" -->
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<td class="memname">void mrpt::slam::CObservationGasSensors::CMOSmodel::inverse_MOSmodeling </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>sensorPose</em>, </td>
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<td class="paramtype">const <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> & </td>
<td class="paramname"><em>timestamp</em> </td>
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<td></td><td><code> [protected]</code></td>
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<p>Estimates the gas concentration based on readings and sensor model. </p>
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<a class="anchor" id="a6ba31f02110ca8f82e8c238b2a544d12"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::noise_filtering" ref="a6ba31f02110ca8f82e8c238b2a544d12" args="(const float &reading, const CPose3D &sensorPose, const mrpt::system::TTimeStamp &timestamp)" -->
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<td class="memname">void mrpt::slam::CObservationGasSensors::CMOSmodel::noise_filtering </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>sensorPose</em>, </td>
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<td class="paramname"><em>timestamp</em> </td>
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<p>Reduce noise by averaging with a mobile window of specific size (winNoise_size) </p>
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<a class="anchor" id="a41f756affafc0f40954f007c6b9b7abe"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::save_log_map" ref="a41f756affafc0f40954f007c6b9b7abe" args="(const mrpt::system::TTimeStamp &timestamp, const float &reading, const float &estimation, const float &k, const double &yaw, const float &speed)" -->
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<td class="memname">void mrpt::slam::CObservationGasSensors::CMOSmodel::save_log_map </td>
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<td class="paramname"><em>timestamp</em>, </td>
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<td class="paramtype">const float & </td>
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<p>Save the gas distribution estiamtion into a log file for offline representation. </p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a09ccaa5bc3caa3e185cc685374b9e071"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::calibrated_delay_RobotSpeeds" ref="a09ccaa5bc3caa3e185cc685374b9e071" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a09ccaa5bc3caa3e185cc685374b9e071">mrpt::slam::CObservationGasSensors::CMOSmodel::calibrated_delay_RobotSpeeds</a></td>
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<p>Calibrated values of the delay for different robot speeds. </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00143">143</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<a class="anchor" id="a1f2fe725a7188a92cd0be2737ec58671"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::calibrated_delay_values" ref="a1f2fe725a7188a92cd0be2737ec58671" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a1f2fe725a7188a92cd0be2737ec58671">mrpt::slam::CObservationGasSensors::CMOSmodel::calibrated_delay_values</a></td>
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<p>Calibrated values of the delay for different robot speeds. </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00144">144</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<a class="anchor" id="ae77ac2a88c2237a872da3034ec26802c"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::calibrated_tauD_values" ref="ae77ac2a88c2237a872da3034ec26802c" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ae77ac2a88c2237a872da3034ec26802c">mrpt::slam::CObservationGasSensors::CMOSmodel::calibrated_tauD_values</a></td>
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<p>Calibrated values of K= 1/tauD for different volatile concentrations. </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00142">142</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<a class="anchor" id="a28b526f78cfbc4785e97445984512533"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::calibrated_tauD_voltages" ref="a28b526f78cfbc4785e97445984512533" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a28b526f78cfbc4785e97445984512533">mrpt::slam::CObservationGasSensors::CMOSmodel::calibrated_tauD_voltages</a></td>
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<p>Calibrated values of K= 1/tauD for different volatile concentrations. </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00141">141</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<a class="anchor" id="a88d21fd1d7d11970a40e628da0ee3027"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::decimate_count" ref="a88d21fd1d7d11970a40e628da0ee3027" args="" -->
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<td class="memname">uint16_t <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a88d21fd1d7d11970a40e628da0ee3027">mrpt::slam::CObservationGasSensors::CMOSmodel::decimate_count</a><code> [protected]</code></td>
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<p>Decimate value for oversampled enose readings. </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00174">174</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<td class="memname">int <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ab6c29d8abd4e4656df78914003160dad">mrpt::slam::CObservationGasSensors::CMOSmodel::decimate_value</a></td>
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<p>[useMOSmodel] The decimate frecuency applied after noise filtering </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00138">138</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<a class="anchor" id="ae7ef07e4fcb45bbda2ca86f4d06fe3f6"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::first_incT" ref="ae7ef07e4fcb45bbda2ca86f4d06fe3f6" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ae7ef07e4fcb45bbda2ca86f4d06fe3f6">mrpt::slam::CObservationGasSensors::CMOSmodel::first_incT</a><code> [protected]</code></td>
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<p>To force e-nose samples to have fixed time increments. </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00176">176</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<td class="memname">double <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#acb3d1a9aead6bccd2685a602c8031f52">mrpt::slam::CObservationGasSensors::CMOSmodel::fixed_incT</a><code> [protected]</code></td>
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<p>To force e-nose samples to have fixed time increments. </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00175">175</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<a class="anchor" id="ac768ecc9fa9aca379873c815eaf9008a"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::last_Obs" ref="ac768ecc9fa9aca379873c815eaf9008a" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html">TdataMap</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#ac768ecc9fa9aca379873c815eaf9008a">mrpt::slam::CObservationGasSensors::CMOSmodel::last_Obs</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00170">170</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<a class="anchor" id="a83e6508dc54e0cfbb577460432bc558f"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::lastObservations_size" ref="a83e6508dc54e0cfbb577460432bc558f" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a83e6508dc54e0cfbb577460432bc558f">mrpt::slam::CObservationGasSensors::CMOSmodel::lastObservations_size</a></td>
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<p>The number of observations to keep in m_lastObservations (Must be > max(delay) ) </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00140">140</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<a class="anchor" id="a48eca00a299dc67a9bd92b8bc12ad542"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::m_antiNoise_window" ref="a48eca00a299dc67a9bd92b8bc12ad542" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html">TdataMap</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a48eca00a299dc67a9bd92b8bc12ad542">mrpt::slam::CObservationGasSensors::CMOSmodel::m_antiNoise_window</a><code> [protected]</code></td>
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<p>Vector to temporally store and averge readings to reduce noise. </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00172">172</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<a class="anchor" id="a5c31899e24749d4ecefee333530ba97d"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::m_debug_dump" ref="a5c31899e24749d4ecefee333530ba97d" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1ofstream.html">std::ofstream</a>* <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a5c31899e24749d4ecefee333530ba97d">mrpt::slam::CObservationGasSensors::CMOSmodel::m_debug_dump</a><code> [protected]</code></td>
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<p>Ofstream to save to file option "save_maplog". </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00173">173</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<a class="anchor" id="adc307bb24f00c66e8677ef08a90d5b93"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::m_lastObservations" ref="adc307bb24f00c66e8677ef08a90d5b93" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html">TdataMap</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#adc307bb24f00c66e8677ef08a90d5b93">mrpt::slam::CObservationGasSensors::CMOSmodel::m_lastObservations</a><code> [protected]</code></td>
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<p>The last N GasObservations, used for the MOS MODEL estimation. </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00171">171</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<a class="anchor" id="aab28e2b154cb425ab0359ea9d15b2a16"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::min_reading" ref="aab28e2b154cb425ab0359ea9d15b2a16" args="" -->
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<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00177">177</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<p>If true save generated gas map as a log file. </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00145">145</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<p>Tau value for the rise (tauR) sensor phase. </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00139">139</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel_1_1_tdata_map.html">TdataMap</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#acd04ad9b26a779fd68c484b4161adba4">mrpt::slam::CObservationGasSensors::CMOSmodel::temporal_Obs</a><code> [protected]</code></td>
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<p>The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmodel =1) </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00170">170</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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<a class="anchor" id="a914db8f294afba42f8c407aa10178b5a"></a><!-- doxytag: member="mrpt::slam::CObservationGasSensors::CMOSmodel::winNoise_size" ref="a914db8f294afba42f8c407aa10178b5a" args="" -->
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<td class="memname">size_t <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors_1_1_c_m_o_smodel.html#a914db8f294afba42f8c407aa10178b5a">mrpt::slam::CObservationGasSensors::CMOSmodel::winNoise_size</a></td>
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<p>The size of the mobile average window used to reduce noise on sensor reagings. </p>
<p>Definition at line <a class="el" href="_c_observation_gas_sensors_8h_source.html#l00137">137</a> of file <a class="el" href="_c_observation_gas_sensors_8h_source.html">CObservationGasSensors.h</a>.</p>
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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>
