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# trackablemeasure.h

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    00001 /***************************************************************************
    00002 *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003 *    martius@informatik.uni-leipzig.de                                    *
    00004 *    fhesse@informatik.uni-leipzig.de                                     *
    00005 *    der@informatik.uni-leipzig.de                                        *
    00006 *    frankguettler@gmx.de                                                 *
    00007 *                                                                         *
    00008 *   This program is free software; you can redistribute it and/or modify  *
    00009 *   it under the terms of the GNU General Public License as published by  *
    00010 *   the Free Software Foundation; either version 2 of the License, or     *
    00011 *   (at your option) any later version.                                   *
    00012 *                                                                         *
    00013 *   This program is distributed in the hope that it will be useful,       *
    00014 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016 *   GNU General Public License for more details.                          *
    00017 *                                                                         *
    00018 *   You should have received a copy of the GNU General Public License     *
    00019 *   along with this program; if not, write to the                         *
    00020 *   Free Software Foundation, Inc.,                                       *
    00021 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022 ***************************************************************************
    00023 *                                                                         *
    00024 *  DESCRIPTION                                                            *
    00025 *                                                                         *
    00026 *   $Log: trackablemeasure.h,v $
    00027 *   Revision 1.1  2007/12/06 10:18:10  der
    00028 *   AbstractMeasure is now a abstract type for Measures,
    00029 *   StatisticTools now supports AbstractMeasures,
    00030 *   StatisticalMeasure, ComplexMeasure  now derived from
    00031 *   AbstractMeasure,
    00032 *   ComplexMeasure provides support for calculation e.g. entropy,
    00033 *   uses Discretisizer,
    00034 *   Discretisizer is a stand-alone class for support of discretisizing values
    00035 *   TrackableMeasure derived from ComplexMeasure and provides support for calculating complex measures for Trackable objects
    00036 *
    00037 *   Revision 1.3  2007/09/28 08:48:21  robot3
    00038 *   corrected some minor bugs, files are still in develop status
    00039 *
    00040 *   Revision 1.2  2007/09/27 10:49:39  robot3
    00041 *   removed some minor bugs,
    00042 *   added CONVergence test
    00043 *   changed little things for support of the new WSM
    00044 *
    00045 *   Revision 1.1  2007/05/07 21:01:31  robot3
    00046 *   statistictools is a class for easy visualization of measurements of observed values
    00047 *   it is possible to add the observed value itself with mode ID
    00048 *
    00049 *                                                                         *
    00050 ***************************************************************************/
    00051 #ifndef _TRACKABLE_MEASURE_H
    00052 #define _TRACKABLE_MEASURE_H
    00053
    00054 #include "complexmeasure.h"
    00055 #include "trackable.h"
    00056 #include <list>
    00057 #include "position.h"
    00058
    00059 /**
    00060  * NOTE: SPEED and ANGSPEED is not implemented yet!
    00061  */
    00062 enum TrackMode {
    00063     POS, /// takes the position for the measure
    00064     SPEED, /// takes the speed for the measure
    00065     ANGSPEED /// takes the angular speed for the measure
    00066 };
    00067
    00068 /// defines which dimensions should be count.
    00069 enum Dimensions { X = 1, Y = 2, Z = 4 };
    00070
    00071
    00072 class TrackableMeasure : public ComplexMeasure {
    00073
    00074 public:
    00075
    00076   /**
    00077    * creates a new TrackableMeasure. The position of the Trackables in the
    00078    * given list is counted in a fequency list. The possible positions are
    00079    * given by the cornerPointList, which contains the cornerPoints of the
    00080    * arena where the trackables are placed.
    00081    * the complex measure ist then based on the frequency list
    00082    * @param trackableList the list of the Trackables
    00083    * @param cornerPointList the list with the cornerPoints of the arena
    00084    * @param dimensions which dimensions do you like to count? Note that
    00085    * the needed memory is (numberBins^ndim), but calculation costs are O(1)
    00086    * @param cmode which type of complex measure should be evaluated?
    00087    * @param numberBins number of bins used for discretisation
    00088    */
    00089   TrackableMeasure(std::list<Trackable*> trackableList,char* measureName  ,ComplexMeasureMode cmode,std::list<Position> cornerPointList, short dimensions, int numberBins);
    00090
    00091
    00092
    00093   virtual ~TrackableMeasure();
    00094
    00095     /**
    00096      * defined by AbstractMeasure. This method is called from StatisticTools
    00097         for updating the measure in every simStep (ODE).
    00098      */
    00099   virtual void step();
    00100
    00101
    00102 protected:
    00103   std::list<Trackable*> trackableList;
    00104   ComplexMeasureMode cmode;
    00105   TrackMode tmode;
    00106
    00107   virtual double findRange(std::list<Position>  positionList,short dim, bool min);
    00108
    00109   virtual void addDimension(short dim, std::list<Position> cornerPointList);
    00110
    00111 };
    00112
    00113 #endif