Probabilistic sensor description. More...

Detailed Description

Probabilistic sensor description.

Joint probabilistic matrix. Bayesian filter.

Definition at line 27 of file sensorModel.hpp.

#include <sensorModel.hpp>

Public Member Functions
	~SensorModel ()
	Default Destructor.
	SensorModel ()
	Default Constructor.
	SensorModel (int n)
	Constructor preparing a model with n*n elements.
bool	watchCell (int i, int j, jafar::lgl::GeoData gdin, jafar::lgl::GeoData gdout)
	Exerce perception on gdin and write it in gdout.
bool	watchAttributes (const jafar::lgl::Attributes &attin, jafar::lgl::Attributes &attout)
	Exerce perception on an attribute vector.
bool	calculateInformationGain (int i, int j, jafar::lgl::GeoData *gdin, double &result)
	Information Gain calculation from an apriori map using the current model sensor.
bool	simulateCellVision (int i, int j, jafar::lgl::GeoData gdin, jafar::lgl::GeoData gdout)
	Simulate vision with center point (i,j)
bool	simulateAttributes (const jafar::lgl::Attributes &attreal, jafar::lgl::Attributes &attout, double dist)
	Perception simulation.
bool	checkModelAppliance (const jafar::lgl::Attributes &attin)
	Check if attributes and sensormat are compatible.
double	chanfreinDistance (int ao, int bo, int a, int b)
	Compute the chanfrein distance.
bool	isIntervisible (jafar::lgl::GeoData *geoWorld, int x1coord, int y1coord, int x2coord, int y2coord)
	Returns true when points (x1coord, y1coord) and (x2coord, y2coord) are intervisible.
bool	isLandDrivable (jafar::lgl::GeoData *geoWorld, int x1coord, int y1coord, int x2coord, int y2coord)
	Check if land in the geodata is really drivable.
double	getDistanceFactor (int ox, int oy, int i, int j, jafar::lgl::GeoData *geoW=NULL)
	Returns the distance factor used for perception quality damping.
double	getVisibilityMinRadius ()
	Returns the current visibility minimum radius.
bool	setSensorMatrix (int i, int j, double val)
	Sets the sensor matrix element ij.
void	setSensorRange (double ssr)
	Set the sensor range in meters.
void	setDistanceDampingModel (int mod_)
	Set the distance damping model.
void	setVisibilityMinRadius (double vmr_)
	Set a new visibility minimum radius.
Private Attributes
double *	sensormat
	Probabilistic description matrix.
int	sensormatSize
	The square root size of the sensormat matrix.
int	randomModel
double	sensorRange
	Max perception range in meter.
double	maxChanfreinDist
	Max perception range in term of chanfrein distance.
double	shortRangeChanfreinDist
	Range under which perception is "perfect".
int	distanceDampingModel
	Model to use to damp quality over distance.
double	distanceDampingFactor
	Factor preventing from zero perception at sensor range.
double	visibilityMinRadius
	Position within this radius are all visible.

Member Function Documentation

double jafar::rednav::SensorModel::chanfreinDistance	(	int	ao,
		int	bo,
		int	a,
		int	b
	)

Compute the chanfrein distance.

Parameters:

ao	Origin abscissa
bo	Origin ordinate
a	A point abscissa
b	A point ordinate

bool jafar::rednav::SensorModel::checkModelAppliance ( const jafar::lgl::Attributes & attin )

Check if attributes and sensormat are compatible.

Parameters:

attin

double jafar::rednav::SensorModel::getDistanceFactor	(	int	ox,
		int	oy,
		int	i,
		int	j,
		jafar::lgl::GeoData *	geoW = `NULL`
	)

Returns the distance factor used for perception quality damping.

Different damping profiles can be used according to how distanceDampingModel is set.

Parameters:

ox	x-axis center of perception
oy	y-axis center of perception
i	watched point x-axis
j	watched point y-axis

double jafar::rednav::SensorModel::getVisibilityMinRadius ( )

Returns the current visibility minimum radius.

See also:: visibilityMinRadius

bool jafar::rednav::SensorModel::isIntervisible	(	jafar::lgl::GeoData *	geoWorld,
		int	x1coord,
		int	y1coord,
		int	x2coord,
		int	y2coord
	)

Returns true when points (x1coord, y1coord) and (x2coord, y2coord) are intervisible.

Parameters:

geoWorld	real world geodata representation
x1coord	first position X coordinate
y1coord	first position Y coordinate
x2coord	second position X coordinate
y2coord	second position Y coordinate

bool jafar::rednav::SensorModel::isLandDrivable	(	jafar::lgl::GeoData *	geoWorld,
		int	x1coord,
		int	y1coord,
		int	x2coord,
		int	y2coord
	)

Check if land in the geodata is really drivable.

Usuallly used with a geodata that represents land reality this function permets to check piece of paths drivability. This functions is an overlay of isIntervisible() with a special context setting meant to force very short paths to be checked with any other possibility.

Parameters:

geoWorld	real world geodata representation
x1coord	first position X coordinate
y1coord	first position Y coordinate
x2coord	second position X coordinate
y2coord	second position Y coordinate