mrpt::detectors::CDetectorDoorCrossing Class Reference

Detailed Description

See also

CPointsMap

Definition at line 28 of file CDetectorDoorCrossing.h.

#include <mrpt/detectors/CDetectorDoorCrossing.h>

Inheritance diagram for mrpt::detectors::CDetectorDoorCrossing:

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. More...
void	process (mrpt::obs::CActionRobotMovement2D &in_poseChange, mrpt::obs::CSensoryFrame &in_sf, TDoorCrossingOutParams &out_estimation)
	The main method, where a new action/observation pair is added to the list. More...
void	clear ()
	Reset the detector, i.e. More...

Public Attributes
struct mrpt::detectors::CDetectorDoorCrossing::TOptions	options

Private Attributes
mrpt::obs::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). More...
mrpt::maps::COccupancyGridMap2D::TEntropyInfo	entropy
	Entropy of current, and last "map patchs". More...
mrpt::maps::COccupancyGridMap2D::TEntropyInfo	lastEntropy
bool	lastEntropyValid

Constructor & Destructor Documentation

CDetectorDoorCrossing()

CDetectorDoorCrossing::CDetectorDoorCrossing

(

)

The constructor.

See options for customizing the default parameters.

Definition at line 26 of file CDetectorDoorCrossing.cpp.

References clear().

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Member Function Documentation

clear()

void CDetectorDoorCrossing::clear

(

)

Reset the detector, i.e.

it erases all previous observations.

Definition at line 40 of file CDetectorDoorCrossing.cpp.

References mrpt::obs::CRawlog::clear(), lastEntropyValid, and lastObs.

Referenced by CDetectorDoorCrossing().

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process()

void CDetectorDoorCrossing::process	(	mrpt::obs::CActionRobotMovement2D &	in_poseChange,
		mrpt::obs::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

Definition at line 49 of file CDetectorDoorCrossing.cpp.

References mrpt::obs::CRawlog::addAction(), mrpt::obs::CRawlog::addObservations(), ASSERT_, CLASS_ID, mrpt::maps::CSimplePointsMap::copyFrom(), mrpt::detectors::CDetectorDoorCrossing::TDoorCrossingOutParams::cumulativeTurning, mrpt::detectors::CDetectorDoorCrossing::TDoorCrossingOutParams::enoughtInformation, entropy, mrpt::obs::CRawlog::getAsAction(), mrpt::obs::CRawlog::getAsObservations(), mrpt::detectors::CDetectorDoorCrossing::TOptions::gridResolution, mrpt::maps::COccupancyGridMap2D::TEntropyInfo::I, mrpt::detectors::CDetectorDoorCrossing::TDoorCrossingOutParams::informationGain, lastEntropy, lastEntropyValid, lastObs, mrpt::maps::CMultiMetricMap::m_gridMaps, mrpt::maps::CMultiMetricMap::m_pointsMaps, MRPT_END, MRPT_START, options, mrpt::poses::CPose2D::phi(), mrpt::detectors::CDetectorDoorCrossing::TDoorCrossingOutParams::pointsMap, mrpt::maps::TSetOfMetricMapInitializers::push_back(), mrpt::obs::CRawlog::remove(), mrpt::maps::COccupancyGridMap2D::TMapDefinition::resolution, mrpt::obs::CRawlog::size(), and mrpt::detectors::CDetectorDoorCrossing::TOptions::windowSize.

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Member Data Documentation

entropy

mrpt::maps::COccupancyGridMap2D::TEntropyInfo mrpt::detectors::CDetectorDoorCrossing::entropy

private

Entropy of current, and last "map patchs".

Definition at line 119 of file CDetectorDoorCrossing.h.

Referenced by process().

lastEntropy

mrpt::maps::COccupancyGridMap2D::TEntropyInfo mrpt::detectors::CDetectorDoorCrossing::lastEntropy

private

Definition at line 119 of file CDetectorDoorCrossing.h.

Referenced by process().

lastEntropyValid

bool mrpt::detectors::CDetectorDoorCrossing::lastEntropyValid

private

Definition at line 120 of file CDetectorDoorCrossing.h.

Referenced by clear(), and process().

lastObs

mrpt::obs::CRawlog mrpt::detectors::CDetectorDoorCrossing::lastObs

private

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 116 of file CDetectorDoorCrossing.h.

Referenced by clear(), and process().

options

struct mrpt::detectors::CDetectorDoorCrossing::TOptions mrpt::detectors::CDetectorDoorCrossing::options

Referenced by process().