wrinkled_map_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _wrinkled_map_alg_h_
#define _wrinkled_map_alg_h_

#include <iri_wrinkled_map/WrinkledMapConfig.h>
#include "mutex.h"
#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/ros/conversions.h>
#include <vector>
//borrar 24/2/12 #include <normal_descriptor_node/heat_map.h>
#include <normal_descriptor_node/ndesc_pc.h>
#include <normal_descriptor_node/ndesc.h>
//#include <normal_descriptor_node/ndesc_pc_service.h>

/* borrar 24/2/12
typedef union {
    struct //anonymous
    {
      unsigned char Blue;
      unsigned char Green;
      unsigned char Red;
      unsigned char Alpha;
    };
    float float_value;
    long long_value;
} RGBValue; 
  */

//include wrinkled_map_alg main library

class WrinkledMapAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    // [wrinkledness/heat map computation]
    float min_entropy_;

    inline float 
      compute_entropy(const normal_descriptor_node::ndesc &nd)
    {
      float entropy=0;
      float norm_L1=0;

      for(uint i=0; i<nd.descriptor.size(); i++)
      {
        if(!isnan(nd.descriptor[i]))
          norm_L1 += nd.descriptor[i]; 

      }
      for(uint i=0; i<nd.descriptor.size(); i++)
      {
        if(!isnan(nd.descriptor[i]) && nd.descriptor[i]!=0)
        {
          float normalized_descriptor = nd.descriptor[i]/norm_L1;
          entropy += log(normalized_descriptor) * normalized_descriptor;
        }
      }
      if(isnan(entropy) || (-entropy)<this->min_entropy_)
        return this->min_entropy_;
      return -entropy;
    }

  public:

    void compute_entropy_wrinkled_map(const normal_descriptor_node::ndesc_pc &ndesc_pc_msg, pcl::PointCloud<pcl::PointXYZRGB> &hmap);

    bool publish_wrinkled_map_;

    typedef iri_wrinkled_map::WrinkledMapConfig Config;

    Config config_;

    WrinkledMapAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all wrinkled_map_alg interface methods to retrieve and set
    // the driver parameters

    ~WrinkledMapAlgorithm(void);
};

#endif