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mrpt::slam::CDetectorDoorCrossing Class Reference

#include <mrpt/slam/CDetectorDoorCrossing.h>

Inheritance diagram for mrpt::slam::CDetectorDoorCrossing:

mrpt::utils::CDebugOutputCapable

List of all members.

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


Detailed Description

See also:
CPointsMap

Definition at line 48 of file CDetectorDoorCrossing.h.


Constructor & Destructor Documentation

mrpt::slam::CDetectorDoorCrossing::CDetectorDoorCrossing (  ) 

The constructor.

See options for customizing the default parameters.


Member Function Documentation

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.

Parameters:
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.
See also:
TDoorCrossingOutParams


Member Data Documentation

Entropy of current, and last "map patchs".

Definition at line 139 of file CDetectorDoorCrossing.h.

Definition at line 139 of file CDetectorDoorCrossing.h.

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.

In this structure parameters can be changed to customize the behaviour of this algorithm.




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