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.
Definition at line 124 of file CObservationGasSensors.h.
#include <mrpt/slam/CObservationGasSensors.h>
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 ×tamp) |
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 ×tamp) |
Estimates the gas concentration based on readings and sensor model. | |
void | noise_filtering (const float &reading, const CPose3D &sensorPose, const mrpt::system::TTimeStamp ×tamp) |
Reduce noise by averaging with a mobile window of specific size (winNoise_size) | |
void | save_log_map (const mrpt::system::TTimeStamp ×tamp, 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< TdataMap > | m_lastObservations |
The last N GasObservations, used for the MOS MODEL estimation. | |
std::vector< TdataMap > | m_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 |
mrpt::slam::CObservationGasSensors::CMOSmodel::CMOSmodel | ( | ) |
Constructor.
mrpt::slam::CObservationGasSensors::CMOSmodel::~CMOSmodel | ( | ) |
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.
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.
uint16_t mrpt::slam::CObservationGasSensors::CMOSmodel::decimate_count [protected] |
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.
bool mrpt::slam::CObservationGasSensors::CMOSmodel::first_incT [protected] |
To force e-nose samples to have fixed time increments.
Definition at line 175 of file CObservationGasSensors.h.
double mrpt::slam::CObservationGasSensors::CMOSmodel::fixed_incT [protected] |
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.
std::vector<TdataMap> mrpt::slam::CObservationGasSensors::CMOSmodel::m_antiNoise_window [protected] |
Vector to temporally store and averge readings to reduce noise.
Definition at line 171 of file CObservationGasSensors.h.
std::ofstream* mrpt::slam::CObservationGasSensors::CMOSmodel::m_debug_dump [protected] |
Ofstream to save to file option "save_maplog".
Definition at line 172 of file CObservationGasSensors.h.
std::vector<TdataMap> mrpt::slam::CObservationGasSensors::CMOSmodel::m_lastObservations [protected] |
The last N GasObservations, used for the MOS MODEL estimation.
Definition at line 170 of file CObservationGasSensors.h.
float mrpt::slam::CObservationGasSensors::CMOSmodel::min_reading [protected] |
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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