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mrpt::slam::CDetectorDoorCrossing Class Reference

Detailed Description

See also
CPointsMap

Definition at line 31 of file CDetectorDoorCrossing.h.

#include <mrpt/slam/CDetectorDoorCrossing.h>

Inheritance diagram for mrpt::slam::CDetectorDoorCrossing:
Inheritance graph
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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 (CActionRobotMovement2D &in_poseChange, 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 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). More...
 
COccupancyGridMap2D::TEntropyInfo entropy
 Entropy of current, and last "map patchs". More...
 
COccupancyGridMap2D::TEntropyInfo lastEntropy
 
bool lastEntropyValid
 

Constructor & Destructor Documentation

◆ CDetectorDoorCrossing()

mrpt::slam::CDetectorDoorCrossing::CDetectorDoorCrossing ( )

The constructor.

See options for customizing the default parameters.

Member Function Documentation

◆ clear()

void mrpt::slam::CDetectorDoorCrossing::clear ( )

Reset the detector, i.e.

it erases all previous observations.

◆ printf_debug()

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,
  ... 
)
staticinherited

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

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

◆ process()

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_poseChangeThe odometry (or any other meanway) based change in the robot pose since last observation to this one.
in_sfThe observations.
out_estimationThe estimation results.
See also
TDoorCrossingOutParams

Member Data Documentation

◆ entropy

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

Entropy of current, and last "map patchs".

Definition at line 122 of file CDetectorDoorCrossing.h.

◆ lastEntropy

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

Definition at line 122 of file CDetectorDoorCrossing.h.

◆ lastEntropyValid

bool mrpt::slam::CDetectorDoorCrossing::lastEntropyValid
private

Definition at line 123 of file CDetectorDoorCrossing.h.

◆ lastObs

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 118 of file CDetectorDoorCrossing.h.

◆ options

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



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