Definition at line 31 of file CDetectorDoorCrossing.h.
#include <mrpt/detectors/CDetectorDoorCrossing.h>
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... | |
Static Public Member Functions | |
static void | printf_debug (const char *frmt,...) |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More... | |
Public Attributes | |
struct DETECTORS_IMPEXP 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 |
mrpt::detectors::CDetectorDoorCrossing::CDetectorDoorCrossing | ( | ) |
The constructor.
See options for customizing the default parameters.
void mrpt::detectors::CDetectorDoorCrossing::clear | ( | ) |
Reset the detector, i.e.
it erases all previous observations.
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staticinherited |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().
void mrpt::detectors::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.
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. |
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private |
Entropy of current, and last "map patchs".
Definition at line 121 of file CDetectorDoorCrossing.h.
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private |
Definition at line 121 of file CDetectorDoorCrossing.h.
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private |
Definition at line 122 of file CDetectorDoorCrossing.h.
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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 118 of file CDetectorDoorCrossing.h.
struct DETECTORS_IMPEXP mrpt::detectors::CDetectorDoorCrossing::TOptions mrpt::detectors::CDetectorDoorCrossing::options |
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