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25 CDetectorDoorCrossing::CDetectorDoorCrossing()
105 ASSERT_(act->GetRuntimeClass()->derivedFrom(
108 std::dynamic_pointer_cast<CActionRobotMovement2D>(act);
110 action->poseChange->getMean(pos);
120 sf->insertObservationsInto(&auxMap, &pose3D);
T::Ptr mapByClass(size_t ith=0) const
Returns the i'th map of a given class (or of a derived class), or empty smart pointer if there is no ...
std::shared_ptr< mrpt::obs ::CSensoryFrame > Ptr
double phi() const
Get the phi angle of the 2D pose (in radians)
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.
mrpt::maps::COccupancyGridMap2D::TEntropyInfo lastEntropy
A structure used as output in this method.
std::shared_ptr< mrpt::obs ::CActionCollection > Ptr
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
mrpt::system::COutputLogger COutputLogger
Represents a probabilistic 2D movement of the robot mobile base.
#define ASSERT_(f)
Defines an assertion mechanism.
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
std::shared_ptr< mrpt::obs ::CActionRobotMovement2D > Ptr
This namespace contains representation of robot actions and observations.
void insert(CAction &action)
Add an action to the sequence: a collection of just one element is created.
A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap...
CSensoryFrame::Ptr getAsObservations(size_t index) const
Returns the i'th element in the sequence, as being an action, where index=0 is the first object.
mrpt::obs::CRawlog lastObs
The last observations and consecutive actions are stored here: Indexes (0,1) is the earlier (act,...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
void clear()
Clear the sequence of actions/observations.
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
This class stores any customizable set of metric maps.
void clear()
Reset the detector, i.e.
float informationGain
The gain in information produced by the last observation, in "bits".
size_t size() const
Returns the number of actions / observations object in the sequence.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
bool enoughInformation
If this is false, all other output fields must not be taken into account since there is not yet enoug...
CActionCollection::Ptr getAsAction(size_t index) const
Returns the i'th element in the sequence, as being actions, where index=0 is the first object.
double I
The target variable for absolute "information", defining I(x) = 1 - H(x)
struct mrpt::detectors::CDetectorDoorCrossing::TOptions options
mrpt::maps::COccupancyGridMap2D::TEntropyInfo entropy
Entropy of current, and last "map patchs".
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
mrpt::maps::CSimplePointsMap pointsMap
#define CLASS_ID(T)
Access to runtime class ID for a defined class name.
void push_back(const MAP_DEFINITION &o)
std::shared_ptr< CAction > Ptr
A class for storing an occupancy grid map.
float cumulativeTurning
The cumulative turning of the robot in radians for the movements in the "window".
unsigned int windowSize
The window size, in (action,observations) pairs;min.
void remove(size_t index)
Delete the action or observation stored in the given index.
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