#include <mrpt/slam/CDetectorDoorCrossing.h>
Classes | |
struct | TDoorCrossingOutParams |
A structure used as output in this method. More... | |
struct | TOptions |
In this structure parameters can be changed to customize the behaviour of this algorithm. More... | |
Public Member Functions | |
CDetectorDoorCrossing () | |
The constructor. | |
void | process (CActionRobotMovement2D &in_poseChange, CSensoryFrame &in_sf, TDoorCrossingOutParams &out_estimation) |
The main method, where a new action/observation pair is added to the list. | |
void | clear () |
Reset the detector, i.e. | |
Public Attributes | |
struct MRPTDLLIMPEXP mrpt::slam::CDetectorDoorCrossing::TOptions | options |
In this structure parameters can be changed to customize the behaviour of this algorithm. | |
Private Attributes | |
CRawlog | lastObs |
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). | |
COccupancyGridMap2D::TEntropyInfo | entropy |
Entropy of current, and last "map patchs". | |
COccupancyGridMap2D::TEntropyInfo | lastEntropy |
bool | lastEntropyValid |
Definition at line 48 of file CDetectorDoorCrossing.h.
mrpt::slam::CDetectorDoorCrossing::CDetectorDoorCrossing | ( | ) |
The constructor.
See options for customizing the default parameters.
void mrpt::slam::CDetectorDoorCrossing::clear | ( | ) |
Reset the detector, i.e.
it erases all previous observations.
void mrpt::slam::CDetectorDoorCrossing::process | ( | CActionRobotMovement2D & | in_poseChange, | |
CSensoryFrame & | in_sf, | |||
TDoorCrossingOutParams & | out_estimation | |||
) |
The main method, where a new action/observation pair is added to the list.
Here the list of old observations is updated, and a value with the probability of having pass a door is returned.
in_poseChange | The odometry (or any other meanway) based change in the robot pose since last observation to this one. | |
in_sf | The observations. | |
out_estimation | The estimation results. |
Definition at line 139 of file CDetectorDoorCrossing.h.
bool mrpt::slam::CDetectorDoorCrossing::lastEntropyValid [private] |
Definition at line 140 of file CDetectorDoorCrossing.h.
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).
Always contains (Action, Observation) pairs, in that order.
Definition at line 135 of file CDetectorDoorCrossing.h.
struct MRPTDLLIMPEXP mrpt::slam::CDetectorDoorCrossing::TOptions mrpt::slam::CDetectorDoorCrossing::options |
In this structure parameters can be changed to customize the behaviour of this algorithm.
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