51 lines
1.6 KiB
C++
51 lines
1.6 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_DETECT_FLOORS_H_
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#define CARTOGRAPHER_MAPPING_DETECT_FLOORS_H_
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/proto/trajectory.pb.h"
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namespace cartographer {
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namespace mapping {
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struct Timespan {
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common::Time start;
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common::Time end;
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};
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struct Floor {
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// The spans of time we spent on this floor. Since we might have walked up and
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// down many times in this place, there can be many spans of time we spent on
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// a particular floor.
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std::vector<Timespan> timespans;
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// The median z-value of this floor.
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double z;
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};
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// Uses a heuristic which looks at z-values of the poses to detect individual
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// floors of a building. This requires that floors are *mostly* on the same
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// z-height and that level changes happen *relatively* abrubtly, e.g. by taking
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// the stairs.
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std::vector<Floor> DetectFloors(const proto::Trajectory& trajectory);
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_DETECT_FLOORS_H_
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