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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 *    joergweide84@aol.com (robot12)                                       *
    00008 *                                                                         *
    00009 *   This program is free software; you can redistribute it and/or modify  *
    00010 *   it under the terms of the GNU General Public License as published by  *
    00011 *   the Free Software Foundation; either version 2 of the License, or     *
    00012 *   (at your option) any later version.                                   *
    00013 *                                                                         *
    00014 *   This program is distributed in the hope that it will be useful,       *
    00015 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00016 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00017 *   GNU General Public License for more details.                          *
    00018 *                                                                         *
    00019 *   You should have received a copy of the GNU General Public License     *
    00020 *   along with this program; if not, write to the                         *
    00021 *   Free Software Foundation, Inc.,                                       *
    00022 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00023 ***************************************************************************
    00024 *                                                                         *
    00025 *  DESCRIPTION                                                            *
    00026 *                                                                         *
    00027 *   $Log: trackablemeasure.h,v $
    00028 *   Revision 1.3  2009/08/03 14:09:48  jhoffmann
    00029 *   Remove some compiling warnings, memory leaks; Add some code cleanups
    00030 *
    00031 *   Revision 1.2  2009/07/15 12:59:05  robot12
    00032 *   one bugfixe in constructor (parameter type char* to const char*)
    00033 *
    00034 *   Revision 1.1  2009/03/27 06:16:58  guettler
    00035 *   support for gcc 4.3 compatibility (has to be checked), StatisticTools moves from utils to statistictools
    00036 *
    00037 *   Revision 1.1  2007/12/06 10:18:10  der
    00038 *   AbstractMeasure is now a abstract type for Measures,
    00039 *   StatisticTools now supports AbstractMeasures,
    00040 *   StatisticalMeasure, ComplexMeasure  now derived from
    00041 *   AbstractMeasure,
    00042 *   ComplexMeasure provides support for calculation e.g. entropy,
    00043 *   uses Discretisizer,
    00044 *   Discretisizer is a stand-alone class for support of discretisizing values
    00045 *   TrackableMeasure derived from ComplexMeasure and provides support for calculating complex measures for Trackable objects
    00046 *
    00047 *   Revision 1.3  2007/09/28 08:48:21  robot3
    00048 *   corrected some minor bugs, files are still in develop status
    00049 *
    00050 *   Revision 1.2  2007/09/27 10:49:39  robot3
    00051 *   removed some minor bugs,
    00052 *   added CONVergence test
    00053 *   changed little things for support of the new WSM
    00054 *
    00055 *   Revision 1.1  2007/05/07 21:01:31  robot3
    00056 *   statistictools is a class for easy visualization of measurements of observed values
    00057 *   it is possible to add the observed value itself with mode ID
    00058 *
    00059 *                                                                         *
    00060 ***************************************************************************/
    00061 #ifndef _TRACKABLE_MEASURE_H
    00062 #define _TRACKABLE_MEASURE_H
    00063
    00064 #include "complexmeasure.h"
    00065 #include "trackable.h"
    00066 #include <list>
    00067 #include "position.h"
    00068
    00069 /**
    00070  * NOTE: SPEED and ANGSPEED is not implemented yet!
    00071  */
    00072 enum TrackMode {
    00073     POS, /// takes the position for the measure
    00074     SPEED, /// takes the speed for the measure
    00075     ANGSPEED /// takes the angular speed for the measure
    00076 };
    00077
    00078 /// defines which dimensions should be count.
    00079 enum Dimensions { X = 1, Y = 2, Z = 4 };
    00080
    00081
    00082 class TrackableMeasure : public ComplexMeasure {
    00083
    00084 public:
    00085
    00086   /**
    00087    * creates a new TrackableMeasure. The position of the Trackables in the
    00088    * given list is counted in a fequency list. The possible positions are
    00089    * given by the cornerPointList, which contains the cornerPoints of the
    00090    * arena where the trackables are placed.
    00091    * the complex measure ist then based on the frequency list
    00092    * @param trackableList the list of the Trackables
    00093    * @param cornerPointList the list with the cornerPoints of the arena
    00094    * @param dimensions which dimensions do you like to count? Note that
    00095    * the needed memory is (numberBins^ndim), but calculation costs are O(1)
    00096    * @param cmode which type of complex measure should be evaluated?
    00097    * @param numberBins number of bins used for discretisation
    00098    */
    00099   TrackableMeasure(std::list<Trackable*> trackableList,const char* measureName  ,ComplexMeasureMode cmode,std::list<Position> cornerPointList, short dimensions, int numberBins);
    00100
    00101   //virtual ~TrackableMeasure();
    00102
    00103   /**
    00104    * defined by AbstractMeasure. This method is called from StatisticTools
    00105       for updating the measure in every simStep (ODE).
    00106    */
    00107   virtual void step();
    00108
    00109
    00110 protected:
    00111   std::list<Trackable*> trackableList;
    00112   ComplexMeasureMode    cmode;
    00113   TrackMode             tmode;
    00114
    00115   virtual double findRange(std::list<Position>  positionList,short dim, bool min);
    00116
    00117   virtual void addDimension(short dim, std::list<Position> cornerPointList);
    00118
    00119 };
    00120
    00121 #endif