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CDetectorDoorCrossing.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CDetectorDoorCrossing_H
00029 #define CDetectorDoorCrossing_H
00030 
00031 #include <mrpt/utils/CDebugOutputCapable.h>
00032 #include <mrpt/slam/CRawlog.h>
00033 #include <mrpt/poses/CPose2D.h>
00034 #include <mrpt/slam/CSensoryFrame.h>
00035 #include <mrpt/slam/CSimplePointsMap.h>
00036 #include <mrpt/slam/COccupancyGridMap2D.h>
00037 #include <mrpt/slam/CActionRobotMovement2D.h>
00038 
00039 #include <mrpt/slam/link_pragmas.h>
00040 
00041 namespace mrpt
00042 {
00043 namespace slam
00044 {
00045 
00046         /**
00047      *
00048          * \sa CPointsMap
00049          */
00050         class SLAM_IMPEXP CDetectorDoorCrossing : public utils::CDebugOutputCapable
00051         {
00052         public:
00053                 /** The constructor. See options for customizing the default parameters.
00054                   *
00055                   */
00056                 CDetectorDoorCrossing() ;
00057 
00058                 /** In this structure parameters can be changed to customize the
00059                   *   behaviour of this algorithm.
00060                   */
00061                 struct SLAM_IMPEXP TOptions
00062                 {
00063                         TOptions() : windowSize(5), gridResolution(0.2f) //, gridUpdateFactor(0.5)
00064                         {
00065                         }
00066 
00067                         /** The window size, in (action,observations) pairs;min. value is 2.
00068                           */
00069                         unsigned int    windowSize;
00070 
00071                         float                   gridResolution; //,gridUpdateFactor;
00072 
00073                 } options;
00074 
00075 
00076                 /** A structure used as output in this method.
00077                   * \sa process
00078                   */
00079                 struct SLAM_IMPEXP TDoorCrossingOutParams
00080                 {
00081                         TDoorCrossingOutParams() :
00082                                 enoughtInformation(false),
00083                                 doorCrossingLikelihood(0),
00084                                 informationGain(0),
00085                                 cumulativeTurning(0),
00086                                 pointsMap()
00087                         {
00088                         };
00089 
00090                         /** If this is false, all other output fields must not be
00091                           *   taken into account since there is not yet enought information
00092                           *   to fill the required observations window size.
00093                           */
00094                         bool    enoughtInformation;
00095 
00096                         /** The likelihood of having just entering a new room, in
00097                           *   the range [0,1]
00098                           */
00099                         float   doorCrossingLikelihood;
00100 
00101                         /** The gain in information produced by the last observation, in "bits".
00102                           */
00103                         float   informationGain;
00104 
00105                         /** The cumulative turning of the robot in radians for the movements in the "window"
00106                           */
00107                         float   cumulativeTurning;
00108 
00109                         CSimplePointsMap        pointsMap;
00110                 };
00111 
00112                 /** The main method, where a new action/observation pair is added to the list.
00113                   *   Here the list of old observations is updated, and a value with the probability
00114                   *   of having pass a door is returned.
00115                   * \param in_poseChange The odometry (or any other meanway) based change in the robot pose since last observation to this one.
00116                   * \param in_sf The observations.
00117                   * \param out_estimation The estimation results.
00118                   *
00119                   * \sa TDoorCrossingOutParams
00120                   */
00121                 void  process(
00122                                 CActionRobotMovement2D  &in_poseChange,
00123                                 CSensoryFrame                   &in_sf,
00124                                 TDoorCrossingOutParams  &out_estimation
00125                                 );
00126 
00127                 /** Reset the detector, i.e. it erases all previous observations.
00128                   */
00129                 void  clear();
00130 
00131         private:
00132                 /** The last observations and consecutive actions are stored here:
00133                   *   Indexes (0,1) is the earlier (act,obs) pair, and the lastest pair
00134                   *    is in indexes ((M-1)*2,(M-1)*2-1).
00135                   *    Always contains (Action, Observation) pairs, in that order.
00136                   */
00137                 CRawlog         lastObs;
00138 
00139                 /** Entropy of current, and last "map patchs".
00140                   */
00141                 COccupancyGridMap2D::TEntropyInfo       entropy, lastEntropy;
00142                 bool                            lastEntropyValid;
00143 
00144 
00145 
00146         };
00147 
00148         } // End of namespace
00149 } // End of namespace
00150 
00151 #endif



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