9#ifndef CDetectorDoorCrossing_H
10#define CDetectorDoorCrossing_H
44 TOptions() : windowSize(5), gridResolution(0.2f)
63 enoughtInformation(false),
64 doorCrossingLikelihood(0),
mrpt::obs::CRawlog lastObs
The last observations and consecutive actions are stored here: Indexes (0,1) is the earlier (act,...
CDetectorDoorCrossing()
The constructor.
void clear()
Reset the detector, i.e.
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 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.
Represents a probabilistic 2D movement of the robot mobile base.
This class stores a rawlog (robotic datasets) in one of two possible formats:
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
This base class provides a common printf-like method to send debug information to std::cout,...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A structure used as output in this method.
float doorCrossingLikelihood
The likelihood of having just entering a new room, in the range [0,1].
float informationGain
The gain in information produced by the last observation, in "bits".
bool enoughtInformation
If this is false, all other output fields must not be taken into account since there is not yet enoug...
mrpt::maps::CSimplePointsMap pointsMap
float cumulativeTurning
The cumulative turning of the robot in radians for the movements in the "window".
In this structure parameters can be changed to customize the behaviour of this algorithm.
unsigned int windowSize
The window size, in (action,observations) pairs;min.
Used for returning entropy related information.