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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