00001 #ifndef SMMAP_H
00002 #define SMMAP_H
00003 #include <grid/map.h>
00004 #include <grid/harray2d.h>
00005 #include <utils/point.h>
00006 #define SIGHT_INC 1
00007
00008 namespace GMapping {
00009
00010 struct PointAccumulator{
00011 typedef point<float> FloatPoint;
00012
00013
00014
00015
00016 PointAccumulator(): acc(0,0), n(0), visits(0){}
00017 PointAccumulator(int i): acc(0,0), n(0), visits(0){assert(i==-1);}
00018
00019 inline void update(bool value, const Point& p=Point(0,0));
00020 inline Point mean() const {return 1./n*Point(acc.x, acc.y);}
00021 inline operator double() const { return visits?(double)n*SIGHT_INC/(double)visits:-1; }
00022 inline void add(const PointAccumulator& p) {acc=acc+p.acc; n+=p.n; visits+=p.visits; }
00023 static const PointAccumulator& Unknown();
00024 static PointAccumulator* unknown_ptr;
00025 FloatPoint acc;
00026 int n, visits;
00027 inline double entropy() const;
00028 };
00029
00030 void PointAccumulator::update(bool value, const Point& p){
00031 if (value) {
00032 acc.x+= static_cast<float>(p.x);
00033 acc.y+= static_cast<float>(p.y);
00034 n++;
00035 visits+=SIGHT_INC;
00036 } else
00037 visits++;
00038 }
00039
00040 double PointAccumulator::entropy() const{
00041 if (!visits)
00042 return -log(.5);
00043 if (n==visits || n==0)
00044 return 0;
00045 double x=(double)n*SIGHT_INC/(double)visits;
00046 return -( x*log(x)+ (1-x)*log(1-x) );
00047 }
00048
00049
00050 typedef Map<PointAccumulator,HierarchicalArray2D<PointAccumulator> > ScanMatcherMap;
00051
00052 };
00053
00054 #endif