CDetectorDoorCrossing.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
 
#include "detectors-precomp.h"   // Precompiled headers
 
#include <mrpt/detectors/CDetectorDoorCrossing.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/poses/CPosePDF.h>
 
using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::detectors;
using namespace mrpt::utils;
using namespace mrpt::poses;
 
 
 
/*---------------------------------------------------------------
                                                Constructor
  ---------------------------------------------------------------*/
CDetectorDoorCrossing::CDetectorDoorCrossing()  :
        COutputLogger("CDetectorDoorCrossing"),
        options(),
        lastObs(),
        entropy(),
        lastEntropy(),
        lastEntropyValid(false)
{
        clear();
}
 
/*---------------------------------------------------------------
                                                clear
  ---------------------------------------------------------------*/
void  CDetectorDoorCrossing::clear()
{
        lastObs.clear();
        lastEntropyValid = false;
}
 
/*---------------------------------------------------------------
                                                process
  ---------------------------------------------------------------*/
void  CDetectorDoorCrossing::process(
                CActionRobotMovement2D  &in_poseChange,
                CSensoryFrame                   &in_sf,
                TDoorCrossingOutParams  &out_estimation
                )
{
        // Variables for generic use:
        size_t                          i;
 
        out_estimation.cumulativeTurning = 0;
 
        MRPT_START
 
        // 1) Add new pair to the list:
        // -----------------------------------------
        lastObs.addAction( in_poseChange );
        lastObs.addObservations( in_sf );
 
        // 2) Remove oldest pair:
        // -----------------------------------------
        ASSERT_( options.windowSize > 1 );
        ASSERT_( (lastObs.size() % 2) == 0 );   // Assure even size
 
        while (lastObs.size()>options.windowSize*2)
        {
                lastObs.remove(0);
                lastObs.remove(0);
        }
 
        if ( lastObs.size() < options.windowSize * 2 )
        {
                // Not enought old data yet:
                out_estimation.enoughtInformation = false;
                return;
        }
 
        // 3) Build an occupancy grid map with observations
        // -------------------------------------------------
        CPose2D                                 p, pos;
 
        TSetOfMetricMapInitializers                     mapInitializer;
 
        {
                CSimplePointsMap::TMapDefinition def;
                mapInitializer.push_back( def );
        }
        {
                COccupancyGridMap2D::TMapDefinition def;
                def.resolution = options.gridResolution;
                mapInitializer.push_back( def );
        }
 
        CMultiMetricMap                 auxMap( &mapInitializer );
 
        for (i=0;i<options.windowSize;i++)
        {
                CActionCollectionPtr    acts = lastObs.getAsAction( i*2+0 );
                CActionPtr                              act = acts->get(0);
 
                ASSERT_( act->GetRuntimeClass()->derivedFrom( CLASS_ID( CActionRobotMovement2D ) ) )
                CActionRobotMovement2DPtr action = CActionRobotMovement2DPtr( act );
 
                action->poseChange->getMean(pos);
 
                out_estimation.cumulativeTurning+= fabs(pos.phi());
 
                // Get the cumulative pose for the current observation:
                p = p + pos;
 
                // Add SF to the grid map:
                CSensoryFramePtr        sf = lastObs.getAsObservations( i*2+1 );
                CPose3D                         pose3D(p);
                sf->insertObservationsInto( &auxMap, &pose3D );
        }
 
        // 4) Compute the information differece between this
        //      "map patch" and the previous one:
        // -------------------------------------------------------
        auxMap.m_gridMaps[0]->computeEntropy( entropy );
 
        if (!lastEntropyValid)
        {
                out_estimation.enoughtInformation = false;
        }
        else
        {
                // 5) Fill output data
                // ---------------------------------
                out_estimation.enoughtInformation = true;
 
 
                out_estimation.informationGain = entropy.I - lastEntropy.I;
                out_estimation.pointsMap.copyFrom( *auxMap.m_pointsMaps[0] );
        }
 
 
        // For next iterations:
        lastEntropy = entropy;
        lastEntropyValid = true;
 
        MRPT_END
 
}