Modules/SelfLocator/GT2005SelfLocator/GT2005SelfLocatorParameters.h

Go to the documentation of this file.

/**
* @file Modules/SelfLocator/GT2005SelfLocator.h
* 
* This file contains parameters for the GT2005Parameter.
*
* @author Max Risler
*/

#ifndef __GT2005SelfLocatorParameters_h__
#define __GT2005SelfLocatorParameters_h__

#include "Tools/Streams/Streamable.h"
#include "Representations/Perception/LinesPercept.h"

class GT2005SelfLocatorParameters : public Streamable
{
  public:

    /** Constructor */
    GT2005SelfLocatorParameters();

    /*------------------------------ public variables ---------------------------------*/

    // parameter prepared for evolution

    // motion update parameters not yet adapted

    // observation update parameters
    // trust = weight / (variance)

    double 
            translationNoise,
            rotationNoise;
    bool noiseWithoutObservationUpdate;  // apply noise on samples without new observations 

    double  movedDistWeight,
            movedAngleWeight,
            majorDirTransWeight,
            minorDirTransWeight,

            headHeightEstimation,

            linePointZAngleVariance,
            linePointYAngleVariance,
            crossingZAngleVariance,
            crossingYAngleVariance,
            centerCircleZAngleVariance,
            centerCircleYAngleVariance,
            centerCircleOrientationAngleVariance,
//            flagZAngleVariance,
            flagYAngleVariance,
            goalZAngleVariance,
            goalYAngleVariance,

            linePointZAngleMotionDependency,
            /*linePointYAngleMotionDependency,
            crossingZAngleMotionDependency,
            crossingYAngleMotionDependency,
            centerCircleZAngleMotionDependency,
            centerCircleYAngleMotionDependency,
            centerCircleOrientationAngleMotionDependency,
            flagZAngleMotionDependency,
            flagYAngleMotionDependency,
            goalZAngleMotionDependency,
            goalYAngleMotionDependency,*/

            linePointWeight,
            crossingWeight,
            centerCircleWeight,
            flagWeight,
            goalWeight;

  double probFlagUpLimit,       // step size for increasing probabilities
         probFlagDownLimit,     // step size for decreasing probabilities
         probLineUpLimit,       // step size for increasing probabilities
         probLineDownLimit,     // step size for decreasing probabilities
         probNoQualityOffset;   // particles with no valid quality are set to average probability minus this value

  int maxLinepoints,
      maxGoalpoints,
      maxBorderpoints,
      maxCrossings;

  double updateProbCenterCircle,  // probability for updating each sample with a center circle percept
         updateProbCrossing,      // probability for updating each sample with a line crossings percept
         updateProbFlag,          // probability for updating each sample with a flag percept
         updateProbGoalPost;      // probability for updating each sample with a goalpost percept

  double odometryProbNoCollision; // probability for a new sample created while no collision was detected of receiving odometry updates
  double odometryProbCollision;   // probability for a new sample created while a collision was detected of receiving odometry updates

  bool applyConstantResampling;   // when true a constant rate of samples is replaced in each frame 
                                  // instead of replacing according to average probability
  double constantResamplingRate;  // percentage of samples replaced each frame when applying constant resampling

  bool clipRobotPose;             // clip robot pose on the field

  bool resetSamplesWhenPenalized; // special sample position resetting when robot is penalized

  double agingFactor;             // sample probability is multiplied with this aging factor each frame



  virtual void serialize(In* in, Out* out)
  {
    STREAM_REGISTER_BEGIN();
    STREAM( translationNoise );
    STREAM( rotationNoise );
    STREAM( noiseWithoutObservationUpdate );
    STREAM( movedDistWeight );
    STREAM( movedAngleWeight );
    STREAM( majorDirTransWeight );
    STREAM( minorDirTransWeight );
    STREAM( headHeightEstimation );
    STREAM( linePointZAngleVariance );
    STREAM( linePointYAngleVariance );
    STREAM( crossingZAngleVariance );
    STREAM( crossingYAngleVariance );
    STREAM( centerCircleZAngleVariance );
    STREAM( centerCircleYAngleVariance );
    STREAM( centerCircleOrientationAngleVariance );
    //STREAM( flagZAngleVariance );
    STREAM( flagYAngleVariance );
    STREAM( goalZAngleVariance );
    STREAM( goalYAngleVariance );
    STREAM( linePointZAngleMotionDependency );
    STREAM( linePointWeight );
    STREAM( crossingWeight );
    STREAM( centerCircleWeight );
    STREAM( flagWeight );
    STREAM( goalWeight );
    STREAM( probFlagUpLimit );
    STREAM( probFlagDownLimit );
    STREAM( probLineUpLimit );
    STREAM( probLineDownLimit );
    STREAM( probNoQualityOffset );
    STREAM( maxLinepoints );
    STREAM( maxGoalpoints );
    STREAM( maxBorderpoints );
    STREAM( maxCrossings );
    STREAM( updateProbCenterCircle );
    STREAM( updateProbCrossing );
    STREAM( updateProbFlag );
    STREAM( updateProbGoalPost );
    STREAM( odometryProbNoCollision );
    STREAM( odometryProbCollision );
    STREAM( applyConstantResampling );
    STREAM( constantResamplingRate );
    STREAM( clipRobotPose );
    STREAM( resetSamplesWhenPenalized );
    STREAM( agingFactor );
    STREAM_REGISTER_FINISH();
  }
};
#endif

---