class mrpt::detectors::CDetectorDoorCrossing

See also:

CPointsMap

#include <mrpt/detectors/CDetectorDoorCrossing.h>

class CDetectorDoorCrossing: public mrpt::system::COutputLogger
{
public:
    // structs

    struct TDoorCrossingOutParams;
    struct TOptions;

    //
fields

    struct mrpt::detectors::CDetectorDoorCrossing::TOptions options;

    // construction

    CDetectorDoorCrossing();

    //
methods

    void process(mrpt::obs::CActionRobotMovement2D& in_poseChange, mrpt::obs::CSensoryFrame& in_sf, TDoorCrossingOutParams& out_estimation);
    void clear();
};

Inherited Members

public:
    // structs

    struct TMsg;

Construction

CDetectorDoorCrossing()

The constructor.

See options for customizing the default parameters.

Methods

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.

Here the list of old observations is updated, and a value with the probability of having pass a door is returned.

Parameters:

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.