00001 /* 00002 * Copyright 2016 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_MAPPING_DETECT_FLOORS_H_ 00018 #define CARTOGRAPHER_MAPPING_DETECT_FLOORS_H_ 00019 00020 #include "cartographer/common/time.h" 00021 #include "cartographer/mapping/proto/trajectory.pb.h" 00022 00023 namespace cartographer { 00024 namespace mapping { 00025 00026 struct Timespan { 00027 common::Time start; 00028 common::Time end; 00029 }; 00030 00031 struct Floor { 00032 // The spans of time we spent on this floor. Since we might have walked up and 00033 // down many times in this place, there can be many spans of time we spent on 00034 // a particular floor. 00035 std::vector<Timespan> timespans; 00036 00037 // The median z-value of this floor. 00038 double z; 00039 }; 00040 00041 // Uses a heuristic which looks at z-values of the poses to detect individual 00042 // floors of a building. This requires that floors are *mostly* on the same 00043 // z-height and that level changes happen *relatively* abrubtly, e.g. by taking 00044 // the stairs. 00045 std::vector<Floor> DetectFloors(const proto::Trajectory& trajectory); 00046 00047 } // namespace mapping 00048 } // namespace cartographer 00049 00050 #endif // CARTOGRAPHER_MAPPING_DETECT_FLOORS_H_