Modules/SelfLocator/GT2005SelfLocator/GT2005SelfLocatorSample.h

Go to the documentation of this file.

/*
* Representation for a single particle(=sample) int the gt2005 selflocator
* Based on the Sample of the GT2004 SelfLocator
*
* TODO: fix strange landmark solution for goals etc
*
*
*  @author <A href=mailto:c_rohde@web.de>Carsten Rohde</A>
*  @author <A href=mailto:judith-winter@web.de>Judith Winter</A>
*
*/

#ifndef __GT2005SelfLocatorSample_h_
#define __GT2005SelfLocatorSample_h_


#include "Representations/Cognition/SampleSet.h"
#include "Representations/Perception/LinesPercept.h"
#include "Tools/Math/Pose2D.h"
#include "Tools/Debugging/Debugging.h"
#include "Platform/SystemCall.h"
#include "GT2005SelfLocatorParameters.h"

/**
* The class represents a sample.
*/
class GT2005SelfLocatorSample : public PoseSample
{
public:

  enum{
    UNINITIALIZED_PROBABILITY = 2
  };

  // caution: observationTable encodes yFieldLine as [numberOfLineTypes] the original
  // gt2004 sample encodes yFieldLine as [numberOfLineTypes+1]
  enum PerceptType
  {
    xFieldLine,
    yFieldLine,
    border,
    flag,      
    goal,
    lineCrossing,
    numberOfPerceptTypes                                  /**< the number of percept types */
  };

  Pose2D camera;                        /**< Temporary representing the pose of the camera. */
  double perceptProbabilities[numberOfPerceptTypes];      /**< a probability for each percept-type recognized */
  long perceptTimestamps[numberOfPerceptTypes];
  GT2005SelfLocatorSample* next;                  /**< The next sample in the cell cube. */
  bool isUsingOdometry;                /**< Whether this sample receives odometry updates or not. */

  /**
  * Constructor.
  */
  GT2005SelfLocatorSample();

  /**
  * Constructor.
  * @param pose The pose of the sample.
  */
  GT2005SelfLocatorSample(const Pose2D& pose);

  double getProbability() const {return probability;}

  void reset();

  /* updates the probability of the sample -> multilplies all probablities.
  * if a probability is not set, a value dependent of the average is taken
  * @param average pointer to the array of average probabilities for the percept types
  */
  void updateProbability(const double* average, const GT2005SelfLocatorParameters& parameters);


  /**
  * sets the probability for a percept. replaces setProbability in GT04SL
  * limits change of probability to +paramProbUpLimit and -paramProbDownLimit
  * differs from gt code by strange part dependent on goal type
  * @param type of the percept the probability is updated for
  * @return value the probability for the percept
  */
  void setPerceptProbability(GT2005SelfLocatorSample::PerceptType type,double value, const GT2005SelfLocatorParameters& parameters);

  bool isValid() const {return probability <= 1;}

  void scaleProbabilities(double factor);
};

/**
 * Streaming operator that reads a sample from a stream.
 */ 
In& operator>>(In& stream,GT2005SelfLocatorSample& sample);
 
/**
 * Streaming operator that writes a sample to a stream.
 */ 
Out& operator<<(Out& stream, const GT2005SelfLocatorSample& sample);

#endif

---