Modules/SelfLocator/SlamSelfLocator/SlamSelfLocatorSample.h

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#ifndef __SlamSelfLocatorSample_h_
#define __SlamSelfLocatorSample_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"



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

  enum{
    UNINITIALIZED_PROBABILITY = 2,
    NO_PERCEPT_PROBABILITY = 3,
    PERCEPT_TTL_MS = 2000
  };

  static double paramProbUpLimit,       // step size for increasing probabilities
                paramProbDownLimit,     // step size for decreasing probabilities
                paramProbDelay;       // delay param for changing probabilities

  // caution: observationTable encodes yFieldLine as [numberOfLineTypes] the original
  // gt2004 sample encodes yFieldLine as [numberOfLineTypes+1]
  enum PerceptType
  {
    xFieldLine,
    yFieldLine,
    flag,      
    yellowGoal,
    skyblueGoal,
    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];
  SlamSelfLocatorSample* next;                  /**< The next sample in the cell cube. */

  /**
  * Constructor.
  */
  SlamSelfLocatorSample();

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

  double getProbability() const {return probability;}

  /* updates the probability of the sample -> multilplies all probablities.
  * if a probability is not set, this probability is not used
  */
  void updateProbability();


  /* 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);


  /**
  * 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(SlamSelfLocatorSample::PerceptType type,double value);

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

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