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PF_aux_structs.h
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1 /* +---------------------------------------------------------------------------+
2  | The Mobile Robot Programming Toolkit (MRPT) C++ library |
3  | |
4  | http://www.mrpt.org/ |
5  | |
6  | Copyright (C) 2005-2012 University of Malaga |
7  | |
8  | This software was written by the Machine Perception and Intelligent |
9  | Robotics Lab, University of Malaga (Spain). |
10  | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |
11  | |
12  | This file is part of the MRPT project. |
13  | |
14  | MRPT is free software: you can redistribute it and/or modify |
15  | it under the terms of the GNU General Public License as published by |
16  | the Free Software Foundation, either version 3 of the License, or |
17  | (at your option) any later version. |
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21  | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
22  | GNU General Public License for more details. |
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24  | You should have received a copy of the GNU General Public License |
25  | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |
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27  +---------------------------------------------------------------------------+ */
28 #ifndef PF_aux_structs_H
29 #define PF_aux_structs_H
30 
31 #include <mrpt/utils/utils_defs.h>
32 #include <vector>
33 #include <iostream>
34 #include <iterator>
35 
36 #include <mrpt/slam/link_pragmas.h>
37 
38 namespace mrpt
39 {
40  namespace slam
41  {
42  namespace detail
43  {
44  using namespace mrpt;
45  using namespace mrpt::math;
46  using namespace std;
47 
48  /** Auxiliary structure used in KLD-sampling in particle filters \sa CPosePDFParticles, CMultiMetricMapPDF */
49  struct SLAM_IMPEXP TPoseBin2D
50  {
51  TPoseBin2D() : x(0),y(0),phi(0) { }
52 
53  int x,y,phi; //!< Bin indices
54 
55  /** less-than ordering of bins for usage in STL containers */
56  struct SLAM_IMPEXP lt_operator
57  {
58  inline bool operator()(const TPoseBin2D& s1, const TPoseBin2D& s2) const
59  {
60  if (s1.x < s2.x) return true;
61  if (s1.x > s2.x) return false;
62  if (s1.y < s2.y) return true;
63  if (s1.y > s2.y) return false;
64  return s1.phi<s2.phi;
65  }
66  };
67  };
68 
69  /** Auxiliary structure */
70  struct SLAM_IMPEXP TPathBin2D
71  {
72  std::vector<TPoseBin2D> bins;
73 
74  /** less-than ordering of bins for usage in STL containers */
75  struct SLAM_IMPEXP lt_operator
76  {
77  bool operator()(const TPathBin2D& s1, const TPathBin2D& s2) const
78  {
79  ASSERT_(s1.bins.size()==s2.bins.size())
80  for (size_t i=0;i<s1.bins.size();i++)
81  {
82  if (s1.bins[i].x < s2.bins[i].x) return true;
83  if (s1.bins[i].x > s2.bins[i].x) return false;
84  if (s1.bins[i].y < s2.bins[i].y) return true;
85  if (s1.bins[i].y > s2.bins[i].y) return false;
86  if (s1.bins[i].phi < s2.bins[i].phi) return true;
87  if (s1.bins[i].phi > s2.bins[i].phi) return false;
88  // else, keep comparing:
89  }
90  return false; // If they're exactly equal, s1 is NOT < s2.
91  }
92  };
93  };
94 
95  /** Auxiliary structure used in KLD-sampling in particle filters \sa CPosePDFParticles, CMultiMetricMapPDF */
96  struct SLAM_IMPEXP TPoseBin3D
97  {
98  TPoseBin3D() : x(0),y(0),z(0),yaw(0),pitch(0),roll(0) { }
99 
100  int x,y,z,yaw,pitch,roll; //!< Bin indices
101 
102  /** less-than ordering of bins for usage in STL containers */
103  struct SLAM_IMPEXP lt_operator
104  {
105  bool operator()(const TPoseBin3D& s1, const TPoseBin3D& s2) const
106  {
107  if (s1.x < s2.x) return true;
108  if (s1.x > s2.x) return false;
109  if (s1.y < s2.y) return true;
110  if (s1.y > s2.y) return false;
111  if (s1.z < s2.z) return true;
112  if (s1.z > s2.z) return false;
113  if (s1.yaw < s2.yaw) return true;
114  if (s1.yaw > s2.yaw) return false;
115  if (s1.pitch < s2.pitch) return true;
116  if (s1.pitch > s2.pitch) return false;
117  return s1.roll<s2.roll;
118  }
119  };
120  };
121 
122 
123  } // End of namespace
124  } // End of namespace
125 } // End of namespace
126 
127 #endif


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