MappingParameter.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 *  and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Redistribution and modification of this code is strictly prohibited.
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
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 */

#ifndef _MIRA_MAPPINGPARAMETER_H_
#define _MIRA_MAPPINGPARAMETER_H_

namespace mira
{


class MappingParameter
{
public:

    struct Thresholds
    {
        Thresholds() {}
        Thresholds(int obstacle, int freespace) :
            obstacleThreshold(obstacle), freespaceThreshold(freespace) {}

        template <typename Reflector>
        void reflect(Reflector& r)
        {
            r.property("FreespaceThreshold", freespaceThreshold, "Freespace threshold for maps", 100);
            r.property("ObstacleThreshold",  obstacleThreshold,  "Obstacle threshold for maps", 100);
        }

        int obstacleThreshold;
        int freespaceThreshold;
    };

public:

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("GlobalThreshold", global, "Global thresholds for maps", Thresholds(100, 100));
        r.property("LocalThreshold", local, "Local thresholds for maps", Thresholds(140, 100));

        r.property("MinObstacleDistance", minObstacleDistance, "Minimum obstacle distance",  0.35);
        r.property("MaxObstacleDistance", maxObstacleDistance, "Maximum obstacle distance", 1.0);

        r.property("MinObstacleObservationTime", minObstacleObservationTime,
                "Minimum time an obstacle must be observed, before it is included"
                "as static obstacle into the global map in seconds", 3.0f);
    }

public:

    Thresholds local;
    Thresholds global;

    float  minObstacleDistance;
    float  maxObstacleDistance;

    float  minObstacleObservationTime;
};

}

#endif