This class stores a rawlog (robotic datasets) in one of two possible formats:
TDoorCrossingOutParams()=default
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.
Represents a probabilistic 2D movement of the robot mobile base.
In this structure parameters can be changed to customize the behaviour of this algorithm.
CDetectorDoorCrossing()
The constructor.
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()
Reset the detector, i.e.
float informationGain
The gain in information produced by the last observation, in "bits".
bool enoughInformation
If this is false, all other output fields must not be taken into account since there is not yet enoug...
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
Versatile class for consistent logging and management of output messages.
Used for returning entropy related information.
float cumulativeTurning
The cumulative turning of the robot in radians for the movements in the "window".
float doorCrossingLikelihood
The likelihood of having just entering a new room, in the range [0,1].
unsigned int windowSize
The window size, in (action,observations) pairs;min.
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