mrpt::slam::CDetectorDoorCrossing Class Reference

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Detailed Description

See also:

CPointsMap

#include <mrpt/slam/CDetectorDoorCrossing.h>

Inheritance diagram for mrpt::slam::CDetectorDoorCrossing:

List of all members.

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.
void	process (CActionRobotMovement2D &in_poseChange, CSensoryFrame &in_sf, TDoorCrossingOutParams &out_estimation)
	The main method, where a new action/observation pair is added to the list.
void	clear ()
	Reset the detector, i.e.
Static Public Member Functions
static void	printf_debug (const char *frmt,...)
	Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Public Attributes
struct SLAM_IMPEXP mrpt::slam::CDetectorDoorCrossing::TOptions	options
Private Attributes
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).
COccupancyGridMap2D::TEntropyInfo	entropy
	Entropy of current, and last "map patchs".
COccupancyGridMap2D::TEntropyInfo	lastEntropy
bool	lastEntropyValid

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Constructor & Destructor Documentation

mrpt::slam::CDetectorDoorCrossing::CDetectorDoorCrossing

(

)

The constructor.

See options for customizing the default parameters.

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Member Function Documentation

void mrpt::slam::CDetectorDoorCrossing::clear

(

)

Reset the detector, i.e.

it erases all previous observations.

static void mrpt::utils::CDebugOutputCapable::printf_debug	(	const char *	frmt,
			...
	)		[static, inherited]

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl::execute().

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

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Member Data Documentation

COccupancyGridMap2D::TEntropyInfo mrpt::slam::CDetectorDoorCrossing::entropy [private]

Entropy of current, and last "map patchs".

Definition at line 141 of file CDetectorDoorCrossing.h.

COccupancyGridMap2D::TEntropyInfo mrpt::slam::CDetectorDoorCrossing::lastEntropy [private]

Definition at line 141 of file CDetectorDoorCrossing.h.

bool mrpt::slam::CDetectorDoorCrossing::lastEntropyValid [private]

Definition at line 142 of file CDetectorDoorCrossing.h.

CRawlog mrpt::slam::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 137 of file CDetectorDoorCrossing.h.

struct SLAM_IMPEXP mrpt::slam::CDetectorDoorCrossing::TOptions mrpt::slam::CDetectorDoorCrossing::options