9 #ifndef CDetectorDoorCrossing_H 10 #define CDetectorDoorCrossing_H
unsigned int windowSize
The window size, in (action,observations) pairs;min.
Entropy of current, and last "map patchs".
If this is false, all other output fields must not be taken into account since there is not yet enoug...
A structure used as output in this method.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. ...
Represents a probabilistic 2D movement of the robot mobile base.
Versatile class for consistent logging and management of output messages.
struct mrpt::detectors::CDetectorDoorCrossing::TOptions options
This class stores a rawlog (robotic datasets) in one of two possible formats:
In this structure parameters can be changed to customize the behaviour of this algorithm.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
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.
The gain in information produced by the last observation, in "bits".
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Reset the detector, i.e.
The cumulative turning of the robot in radians for the movements in the "window". ...
The last observations and consecutive actions are stored here: Indexes (0,1) is the earlier (act...
Used for returning entropy related information.
The likelihood of having just entering a new room, in the range [0,1].