95 lines
3 KiB
Text
95 lines
3 KiB
Text
#ifndef __SCANTOGRID_H_
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#define __SCANTOGRID_H_
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#include "grid/scanGrid.h"
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#include "slam6d/scan.h"
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#include "slam6d/globals.icc"
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#define WAYPOINTWEIGHT 10
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#define SOLIDWEIGHT 5000
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/**
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* The class provides methods to create a 2D scanGrid from a given scan.
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* It sorts out points not relevant for the grid and tries to
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* reduce noise within the data.
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* It also marks free spaces between found obstacles.
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*
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* @author Sebastian Stock, Uwe Hebbelmann, Andre Schemschat
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* @date 11.02.2008
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*/
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class scanToGrid
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{
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private:
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/** The minimal height of a scan that is relevant */
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double minRelevantHeight;
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/** The maximal height of a scan that is relevant */
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double maxRelevantHeight;
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/** The resolution of the grid (centimeters per gridunit) */
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double resolution;
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/** The maximal distance */
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int maxDistance;
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/** The distance weighting */
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double minimalWeighting;
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/** the spot-value of the laser */
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float spot;
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/** If set, ways between the viewpoint and found point will be created */
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bool waypoints;
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/** If set, neighbours for each point will be weighted */
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bool neighbours;
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/**
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* The method calculates the weighting of a Point
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* based on its distance and an internal formula.
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*
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* @param distance The distance of the point to the robots position
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* @return The calculated weighting for the point
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*/
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inline float calculateWeighting(long x, long z)
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{
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double distance = sqrt(pow((double)x, 2) + pow((double)z, 2));
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return this->minimalWeighting * distance + 1;
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}
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/** @brief Calculates the normvector for the vector (x|z) */
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void calculateNormvector(long x, long z, double& xnorm, double &znorm);
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/** @brief Creates a new grid and sets the offsets */
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scanGrid* createGrid(Scan& scan, const double* transformation);
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/** @brief Creates the free points between the robot and the occupied point */
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void createWaypoints(scanGrid* grid, long x, long z, float weighting);
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/** @brief Creates the neighbours for the given point */
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void createNeighbours(scanGrid *grid, long x, long z, float weighting);
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/** @brief Method adds a point (and maybee its neighbours) to the grid */
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void createPoint(scanGrid* grid, long x, long z, float weighting);
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/** @brief Method checks the grid for values which stand alone and deletes them */
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void killAlonePoints(scanGrid* grid, int distance, int neighbours);
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/** @brief Checks if the points lies within the relevant area */
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bool isPointRelevant(const Point& p) const;
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/** @brief Converts the coordinate of a scanpoint to the grid raster */
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long scaleToGrid(double point);
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public:
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/** @brief Ctor*/
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scanToGrid(double resolution, double minRelevantHeight,
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double maxRelevantHeight, int maxDistance ,
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int spotRadius, bool createWays,
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bool neighbours);
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/** @brief Converts the scan to a grid */
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scanGrid* convert(Scan& scan, const double* transformation);
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};
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#endif
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