smmap.h

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#ifndef SMMAP_H
#define SMMAP_H
#include <gmapping/grid/map.h>
#include <gmapping/grid/harray2d.h>
#include <gmapping/utils/point.h>
#define SIGHT_INC 1
 
namespace GMapping {
 
struct PointAccumulator{
        typedef point<float> FloatPoint;
        /* before 
        PointAccumulator(int i=-1): acc(0,0), n(0), visits(0){assert(i==-1);}
        */
        /*after begin*/
        PointAccumulator(): acc(0,0), n(0), visits(0){}
        PointAccumulator(int i): acc(0,0), n(0), visits(0){assert(i==-1);}
        /*after end*/
        inline void update(bool value, const Point& p=Point(0,0));
        inline Point mean() const {return 1./n*Point(acc.x, acc.y);}
        inline operator double() const { return visits?(double)n*SIGHT_INC/(double)visits:-1; }
        inline void add(const PointAccumulator& p) {acc=acc+p.acc; n+=p.n; visits+=p.visits; }
        static const PointAccumulator& Unknown();
        static PointAccumulator* unknown_ptr;
        FloatPoint acc;
        int n, visits;
        inline double entropy() const;
};
 
void PointAccumulator::update(bool value, const Point& p){
        if (value) {
                acc.x+= static_cast<float>(p.x);
                acc.y+= static_cast<float>(p.y); 
                n++; 
                visits+=SIGHT_INC;
        } else
                visits++;
}
 
double PointAccumulator::entropy() const{
        if (!visits)
                return -log(.5);
        if (n==visits || n==0)
                return 0;
        double x=(double)n*SIGHT_INC/(double)visits;
        return -( x*log(x)+ (1-x)*log(1-x) );
}
 
 
typedef Map<PointAccumulator,HierarchicalArray2D<PointAccumulator> > ScanMatcherMap;
 
};
 
#endif