CDetectorDoorCrossing.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CDetectorDoorCrossing_H
#define CDetectorDoorCrossing_H

#include <mrpt/system/COutputLogger.h>
#include <mrpt/obs/CRawlog.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/obs/CActionRobotMovement2D.h>

namespace mrpt::detectors
{
/**
 *
 * \sa CPointsMap   \ingroup mrpt_slam_grp
 */
class CDetectorDoorCrossing : public mrpt::system::COutputLogger
{
   public:
    /** The constructor. See options for customizing the default parameters.
      *
      */
    CDetectorDoorCrossing();

    /** In this structure parameters can be changed to customize the
      *   behaviour of this algorithm.
      */
    struct TOptions
    {
        TOptions()
            : windowSize(5), gridResolution(0.2f)  //, gridUpdateFactor(0.5)
        {
        }

        /** The window size, in (action,observations) pairs;min. value is 2.
          */
        unsigned int windowSize;

        float gridResolution;  //,gridUpdateFactor;

    } options;

    /** A structure used as output in this method.
      * \sa process
      */
    struct TDoorCrossingOutParams
    {
        TDoorCrossingOutParams()
            : enoughtInformation(false),
              doorCrossingLikelihood(0),
              informationGain(0),
              cumulativeTurning(0),
              pointsMap(){};

        /** If this is false, all other output fields must not be
          *   taken into account since there is not yet enought information
          *   to fill the required observations window size.
          */
        bool enoughtInformation;

        /** The likelihood of having just entering a new room, in
          *   the range [0,1]
          */
        float doorCrossingLikelihood;

        /** The gain in information produced by the last observation, in "bits".
          */
        float informationGain;

        /** The cumulative turning of the robot in radians for the movements in
         * the "window"
          */
        float cumulativeTurning;

        mrpt::maps::CSimplePointsMap pointsMap;
    };

    /** 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.
      * \param in_poseChange The odometry (or any other meanway) based change in
     * the robot pose since last observation to this one.
      * \param in_sf The observations.
      * \param out_estimation The estimation results.
      *
      * \sa TDoorCrossingOutParams
      */
    void process(
        mrpt::obs::CActionRobotMovement2D& in_poseChange,
        mrpt::obs::CSensoryFrame& in_sf,
        TDoorCrossingOutParams& out_estimation);

    /** Reset the detector, i.e. it erases all previous observations.
      */
    void clear();

   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.
      */
    mrpt::obs::CRawlog lastObs;

    /** Entropy of current, and last "map patchs". */
    mrpt::maps::COccupancyGridMap2D::TEntropyInfo entropy, lastEntropy;
    bool lastEntropyValid;
};

}
#endif