Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef POLE_FINDER_H
00012 #define POLE_FINDER_H
00013 
00014 #include <vector>
00015 #include <string>
00016 #include <hydrolaserfeatureextract/scanutil.h>
00017 
00018 namespace hydrolfextract {
00019 
00020     // The pole goes from from startI to endI inclusive,
00021     // where startI and endI are indices into the scan
00022     struct Pole
00023     {
00024         Pole() {}
00025         Pole( int startI, int endI, double range, double bearing, double width )
00026             { 
00027                 this->startI = startI; this->endI = endI; 
00028                 this->range=range; this->bearing=bearing; 
00029                 this->width=width; 
00030             }
00031         int    startI;
00032         int    endI;
00033         double range;
00034         double bearing;
00035         double width;
00036     };
00037     std::string toString( const Pole &p );
00038 
00039     //
00040     // \author Alex Brooks
00041     //
00042     // \brief Finds poles.
00043     //
00044     // The actual locations of the poles are returned in the 'poles' array
00045     // (should already have space allocated to it).
00046     //
00047     // Other parameters are:
00048     //   max_laser_range (obvious)
00049     //   min_width (to be declared a pole) [m]
00050     //   max_width (to be declared a pole) [m]
00051     //   min_distance_to_background: minimum distance of the 'pole' from the
00052     //     background [m]
00053     //
00054     //     ie for a laser scan looking like:
00055     //
00056     //     -      -----  -----
00057     //     |          |  |
00058     //    x|          |  |       Require: x >= min_distance_to_background
00059     //     |          |  |                min_width < y < max_width
00060     //     -          ----                to declare this a pole.
00061     //
00062     //                |--|
00063     //                 y
00064     //
00065     std::vector<Pole> detectPoles( const std::vector<float> &ranges,
00066                                    const ScannerConfig &scannerCfg,
00067                                    double min_width,
00068                                    double max_width,
00069                                    double min_distance_to_background,
00070                                    bool debug=false );
00071 }
00072 
00073 #endif
polefinder.h
