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mrpt::slam::CObservationGasSensors::CMOSmodel Class Reference


Detailed Description

Declares a class within "CObservationGasSensors" that represents a set of gas concentration readings from the modelation of a MOS gas sensor readings.

This class provides the parameters and functions to simulate the inverse model of a MOS gas sensor.

See also:
CObservationGasSensors

Definition at line 124 of file CObservationGasSensors.h.

#include <mrpt/slam/CObservationGasSensors.h>

List of all members.

Classes

struct  TdataMap
 The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmodel =1) More...

Public Member Functions

 CMOSmodel ()
 Constructor.
 ~CMOSmodel ()
bool get_GasDistribution_estimation (float &reading, CPose3D &sensorPose, const mrpt::system::TTimeStamp &timestamp)
 Obtain an estimation of the gas distribution based on raw sensor readings.

Public Attributes

MOS-model parameters
size_t winNoise_size
 The size of the mobile average window used to reduce noise on sensor reagings.
int decimate_value
 [useMOSmodel] The decimate frecuency applied after noise filtering
float tauR
 Tau value for the rise (tauR) sensor phase.
unsigned int lastObservations_size
 The number of observations to keep in m_lastObservations (Must be > max(delay) )
vector_float calibrated_tauD_voltages
 Calibrated values of K= 1/tauD for different volatile concentrations.
vector_float calibrated_tauD_values
 Calibrated values of K= 1/tauD for different volatile concentrations.
vector_float calibrated_delay_RobotSpeeds
 Calibrated values of the delay for different robot speeds.
vector_float calibrated_delay_values
 Calibrated values of the delay for different robot speeds.
bool save_maplog
 If true save generated gas map as a log file.

Protected Member Functions

void inverse_MOSmodeling (const float &reading, const CPose3D &sensorPose, const mrpt::system::TTimeStamp &timestamp)
 Estimates the gas concentration based on readings and sensor model.
void noise_filtering (const float &reading, const CPose3D &sensorPose, const mrpt::system::TTimeStamp &timestamp)
 Reduce noise by averaging with a mobile window of specific size (winNoise_size)
void save_log_map (const mrpt::system::TTimeStamp &timestamp, const float &reading, const float &estimation, const float &k, const double &yaw, const float &speed)
 Save the gas distribution estiamtion into a log file for offline representation.

Protected Attributes

TdataMap last_Obs
TdataMap temporal_Obs
 The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmodel =1)
std::vector< TdataMapm_lastObservations
 The last N GasObservations, used for the MOS MODEL estimation.
std::vector< TdataMapm_antiNoise_window
 Vector to temporally store and averge readings to reduce noise.
std::ofstream * m_debug_dump
 Ofstream to save to file option "save_maplog".
uint16_t decimate_count
 Decimate value for oversampled enose readings.
double fixed_incT
 To force e-nose samples to have fixed time increments.
bool first_incT
 To force e-nose samples to have fixed time increments.
float min_reading

Constructor & Destructor Documentation

mrpt::slam::CObservationGasSensors::CMOSmodel::CMOSmodel (  )

Constructor.

mrpt::slam::CObservationGasSensors::CMOSmodel::~CMOSmodel (  )

Member Function Documentation

bool mrpt::slam::CObservationGasSensors::CMOSmodel::get_GasDistribution_estimation ( float &  reading,
CPose3D sensorPose,
const mrpt::system::TTimeStamp timestamp 
)

Obtain an estimation of the gas distribution based on raw sensor readings.

void mrpt::slam::CObservationGasSensors::CMOSmodel::inverse_MOSmodeling ( const float &  reading,
const CPose3D sensorPose,
const mrpt::system::TTimeStamp timestamp 
) [protected]

Estimates the gas concentration based on readings and sensor model.

void mrpt::slam::CObservationGasSensors::CMOSmodel::noise_filtering ( const float &  reading,
const CPose3D sensorPose,
const mrpt::system::TTimeStamp timestamp 
) [protected]

Reduce noise by averaging with a mobile window of specific size (winNoise_size)

void mrpt::slam::CObservationGasSensors::CMOSmodel::save_log_map ( const mrpt::system::TTimeStamp timestamp,
const float &  reading,
const float &  estimation,
const float &  k,
const double &  yaw,
const float &  speed 
) [protected]

Save the gas distribution estiamtion into a log file for offline representation.


Member Data Documentation

Calibrated values of the delay for different robot speeds.

Definition at line 142 of file CObservationGasSensors.h.

Calibrated values of the delay for different robot speeds.

Definition at line 143 of file CObservationGasSensors.h.

Calibrated values of K= 1/tauD for different volatile concentrations.

Definition at line 141 of file CObservationGasSensors.h.

Calibrated values of K= 1/tauD for different volatile concentrations.

Definition at line 140 of file CObservationGasSensors.h.

Decimate value for oversampled enose readings.

Definition at line 173 of file CObservationGasSensors.h.

[useMOSmodel] The decimate frecuency applied after noise filtering

Definition at line 137 of file CObservationGasSensors.h.

To force e-nose samples to have fixed time increments.

Definition at line 175 of file CObservationGasSensors.h.

To force e-nose samples to have fixed time increments.

Definition at line 174 of file CObservationGasSensors.h.

Definition at line 169 of file CObservationGasSensors.h.

The number of observations to keep in m_lastObservations (Must be > max(delay) )

Definition at line 139 of file CObservationGasSensors.h.

Vector to temporally store and averge readings to reduce noise.

Definition at line 171 of file CObservationGasSensors.h.

Ofstream to save to file option "save_maplog".

Definition at line 172 of file CObservationGasSensors.h.

The last N GasObservations, used for the MOS MODEL estimation.

Definition at line 170 of file CObservationGasSensors.h.

Definition at line 176 of file CObservationGasSensors.h.

If true save generated gas map as a log file.

Definition at line 144 of file CObservationGasSensors.h.

Tau value for the rise (tauR) sensor phase.

Definition at line 138 of file CObservationGasSensors.h.

The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmodel =1)

Definition at line 169 of file CObservationGasSensors.h.

The size of the mobile average window used to reduce noise on sensor reagings.

Definition at line 136 of file CObservationGasSensors.h.




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