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9 #ifndef CDetectorDoorCrossing_H
10 #define CDetectorDoorCrossing_H
44 TOptions() : windowSize(5), gridResolution(0.2f)
63 enoughtInformation(false),
64 doorCrossingLikelihood(0),
This class stores a rawlog (robotic datasets) in one of two possible formats:
This base class provides a common printf-like method to send debug information to std::cout,...
mrpt::maps::COccupancyGridMap2D::TEntropyInfo lastEntropy
A structure used as output in this method.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Represents a probabilistic 2D movement of the robot mobile base.
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.
void clear()
Reset the detector, i.e.
In this structure parameters can be changed to customize the behaviour of this algorithm.
mrpt::obs::CRawlog lastObs
The last observations and consecutive actions are stored here: Indexes (0,1) is the earlier (act,...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
float informationGain
The gain in information produced by the last observation, in "bits".
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
mrpt::maps::CSimplePointsMap pointsMap
CDetectorDoorCrossing()
The constructor.
Used for returning entropy related information.
float cumulativeTurning
The cumulative turning of the robot in radians for the movements in the "window".
float doorCrossingLikelihood
The likelihood of having just entering a new room, in the range [0,1].
bool enoughtInformation
If this is false, all other output fields must not be taken into account since there is not yet enoug...
unsigned int windowSize
The window size, in (action,observations) pairs;min.
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