00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 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 namespace mrpt 00040 { 00041 namespace slam 00042 { 00043 00048 class MRPTDLLIMPEXP CDetectorDoorCrossing : public utils::CDebugOutputCapable 00049 { 00050 public: 00054 CDetectorDoorCrossing() ; 00055 00059 struct MRPTDLLIMPEXP TOptions 00060 { 00061 TOptions() : windowSize(5), gridResolution(0.2f) //, gridUpdateFactor(0.5) 00062 { 00063 } 00064 00067 unsigned int windowSize; 00068 00069 float gridResolution; //,gridUpdateFactor; 00070 00071 } options; 00072 00073 00077 struct MRPTDLLIMPEXP TDoorCrossingOutParams 00078 { 00079 TDoorCrossingOutParams() : 00080 enoughtInformation(false), 00081 doorCrossingLikelihood(0), 00082 informationGain(0), 00083 cumulativeTurning(0), 00084 pointsMap() 00085 { 00086 }; 00087 00092 bool enoughtInformation; 00093 00097 float doorCrossingLikelihood; 00098 00101 float informationGain; 00102 00105 float cumulativeTurning; 00106 00107 CSimplePointsMap pointsMap; 00108 }; 00109 00119 void process( 00120 CActionRobotMovement2D &in_poseChange, 00121 CSensoryFrame &in_sf, 00122 TDoorCrossingOutParams &out_estimation 00123 ); 00124 00127 void clear(); 00128 00129 private: 00135 CRawlog lastObs; 00136 00139 COccupancyGridMap2D::TEntropyInfo entropy, lastEntropy; 00140 bool lastEntropyValid; 00141 00142 00143 00144 }; 00145 00146 } // End of namespace 00147 } // End of namespace 00148 00149 #endif
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