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 00044 /** 00045 * 00046 * \sa CPointsMap 00047 */ 00048 class MRPTDLLIMPEXP CDetectorDoorCrossing : public utils::CDebugOutputCapable 00049 { 00050 public: 00051 /** The constructor. See options for customizing the default parameters. 00052 * 00053 */ 00054 CDetectorDoorCrossing() ; 00055 00056 /** In this structure parameters can be changed to customize the 00057 * behaviour of this algorithm. 00058 */ 00059 struct MRPTDLLIMPEXP TOptions 00060 { 00061 TOptions() : windowSize(5), gridResolution(0.2f) //, gridUpdateFactor(0.5) 00062 { 00063 } 00064 00065 /** The window size, in (action,observations) pairs;min. value is 2. 00066 */ 00067 unsigned int windowSize; 00068 00069 float gridResolution; //,gridUpdateFactor; 00070 00071 } options; 00072 00073 00074 /** A structure used as output in this method. 00075 * \sa process 00076 */ 00077 struct MRPTDLLIMPEXP TDoorCrossingOutParams 00078 { 00079 TDoorCrossingOutParams() : 00080 enoughtInformation(false), 00081 doorCrossingLikelihood(0), 00082 informationGain(0), 00083 cumulativeTurning(0), 00084 pointsMap() 00085 { 00086 }; 00087 00088 /** If this is false, all other output fields must not be 00089 * taken into account since there is not yet enought information 00090 * to fill the required observations window size. 00091 */ 00092 bool enoughtInformation; 00093 00094 /** The likelihood of having just entering a new room, in 00095 * the range [0,1] 00096 */ 00097 float doorCrossingLikelihood; 00098 00099 /** The gain in information produced by the last observation, in "bits". 00100 */ 00101 float informationGain; 00102 00103 /** The cumulative turning of the robot in radians for the movements in the "window" 00104 */ 00105 float cumulativeTurning; 00106 00107 CSimplePointsMap pointsMap; 00108 }; 00109 00110 /** The main method, where a new action/observation pair is added to the list. 00111 * Here the list of old observations is updated, and a value with the probability 00112 * of having pass a door is returned. 00113 * \param in_poseChange The odometry (or any other meanway) based change in the robot pose since last observation to this one. 00114 * \param in_sf The observations. 00115 * \param out_estimation The estimation results. 00116 * 00117 * \sa TDoorCrossingOutParams 00118 */ 00119 void process( 00120 CActionRobotMovement2D &in_poseChange, 00121 CSensoryFrame &in_sf, 00122 TDoorCrossingOutParams &out_estimation 00123 ); 00124 00125 /** Reset the detector, i.e. it erases all previous observations. 00126 */ 00127 void clear(); 00128 00129 private: 00130 /** The last observations and consecutive actions are stored here: 00131 * Indexes (0,1) is the earlier (act,obs) pair, and the lastest pair 00132 * is in indexes ((M-1)*2,(M-1)*2-1). 00133 * Always contains (Action, Observation) pairs, in that order. 00134 */ 00135 CRawlog lastObs; 00136 00137 /** Entropy of current, and last "map patchs". 00138 */ 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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