00001
00002
00003 #ifndef SLAM_ABSTRACT_MAP_MANAGER_HPP
00004 #define SLAM_ABSTRACT_MAP_MANAGER_HPP
00005
00006 #include "jmath/jblas.hpp"
00007 #include "kernel/dataLog.hpp"
00008
00009 namespace jafar {
00010 namespace slam {
00011
00012 class SlamEkf;
00013 class DefaultMapManager;
00014 class LocalMapManager;
00015 class GlobalMapManager;
00016 class AbstractMapObject;
00017
00023 class AbstractMapManager: public jafar::kernel::DataLoggable {
00024
00025 protected:
00026
00027 SlamEkf& m_slam;
00028 class Stats
00029 {
00030 public:
00031 static const int m_histo_size = 11;
00032 int m_histo[m_histo_size];
00033 int m_histo_end[m_histo_size];
00034 int compHistoBucket(int nobs);
00035
00036 Stats();
00037 int getHistoSize() const { return m_histo_size; }
00038 int getHisto(int i) const { if (i >= m_histo_size) i = m_histo_size-1; return m_histo[i]+m_histo_end[i]; }
00039 } stats;
00040
00041 public:
00042
00043 AbstractMapManager(SlamEkf& slam): m_slam(slam) {}
00044
00045 virtual ~AbstractMapManager() {};
00046
00047 virtual void clear() = 0;
00048 virtual void setMapObjectState(AbstractMapObject& mapObj) = 0;
00049 virtual void removeMapObject(AbstractMapObject const& mapObj) = 0;
00050 virtual void endProcessObservations(unsigned int robotId_);
00051 virtual void writeLogHeader(jafar::kernel::DataLogger& log) const {};
00052 virtual void writeLogData(jafar::kernel::DataLogger& log) const {};
00053 virtual void writeLogStats(jafar::kernel::DataLogger& log) const;
00054 };
00055
00056 }
00057 }
00058
00059 #endif // SLAM_ABSTRACT_MAP_MANAGER_HPP
