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 106 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. More... | |
| ~CMOSmodel () | |
| bool | get_GasDistribution_estimation (float &reading, mrpt::system::TTimeStamp ×tamp) |
| Obtain an estimation of the gas distribution based on raw sensor readings. More... | |
Public Attributes | |
MOS-model parameters | |
| size_t | winNoise_size |
| The size of the mobile average window used to reduce noise on sensor reagings. More... | |
| int | decimate_value |
| [useMOSmodel] The decimate frecuency applied after noise filtering More... | |
| float | a_rise |
| tau = a*AMPLITUDE +b (linear relationship) More... | |
| float | b_rise |
| tau = a*AMPLITUDE +b (linear relationship) More... | |
| float | a_decay |
| tau = a*AMPLITUDE +b (linear relationship) More... | |
| float | b_decay |
| tau = a*AMPLITUDE +b (linear relationship) More... | |
| bool | save_maplog |
| If true save generated gas map as a log file. More... | |
Protected Member Functions | |
| void | inverse_MOSmodeling (const float &reading, const mrpt::system::TTimeStamp ×tamp) |
| Estimates the gas concentration based on readings and sensor model. More... | |
| void | noise_filtering (const float &reading, const mrpt::system::TTimeStamp ×tamp) |
| Reduce noise by averaging with a mobile window of specific size (winNoise_size) More... | |
| void | save_log_map (const mrpt::system::TTimeStamp ×tamp, const float &reading, const float &estimation, const float &tau) |
| Save the gas distribution estiamtion into a log file for offline representation. More... | |
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) More... | |
| std::vector< TdataMap > | m_antiNoise_window |
| Vector to temporally store and averge readings to reduce noise. More... | |
| std::ofstream * | m_debug_dump |
| Ofstream to save to file option "save_maplog". More... | |
| uint16_t | decimate_count |
| Decimate value for oversampled enose readings. More... | |
| double | fixed_incT |
| To force e-nose samples to have fixed time increments. More... | |
| bool | first_incT |
| To force e-nose samples to have fixed time increments. More... | |
| float | min_reading |
| Minimum reading value till the moment, used as approximation to baeline level. More... | |
| bool | first_iteration |
| To avoid the model estimation on first iteration. More... | |
| mrpt::slam::CObservationGasSensors::CMOSmodel::CMOSmodel | ( | ) |
Constructor.
| mrpt::slam::CObservationGasSensors::CMOSmodel::~CMOSmodel | ( | ) |
| bool mrpt::slam::CObservationGasSensors::CMOSmodel::get_GasDistribution_estimation | ( | float & | reading, |
| mrpt::system::TTimeStamp & | timestamp | ||
| ) |
Obtain an estimation of the gas distribution based on raw sensor readings.
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protected |
Estimates the gas concentration based on readings and sensor model.
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protected |
Reduce noise by averaging with a mobile window of specific size (winNoise_size)
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protected |
Save the gas distribution estiamtion into a log file for offline representation.
| float mrpt::slam::CObservationGasSensors::CMOSmodel::a_decay |
tau = a*AMPLITUDE +b (linear relationship)
Definition at line 123 of file CObservationGasSensors.h.
| float mrpt::slam::CObservationGasSensors::CMOSmodel::a_rise |
tau = a*AMPLITUDE +b (linear relationship)
Definition at line 121 of file CObservationGasSensors.h.
| float mrpt::slam::CObservationGasSensors::CMOSmodel::b_decay |
tau = a*AMPLITUDE +b (linear relationship)
Definition at line 124 of file CObservationGasSensors.h.
| float mrpt::slam::CObservationGasSensors::CMOSmodel::b_rise |
tau = a*AMPLITUDE +b (linear relationship)
Definition at line 122 of file CObservationGasSensors.h.
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protected |
Decimate value for oversampled enose readings.
Definition at line 151 of file CObservationGasSensors.h.
| int mrpt::slam::CObservationGasSensors::CMOSmodel::decimate_value |
[useMOSmodel] The decimate frecuency applied after noise filtering
Definition at line 119 of file CObservationGasSensors.h.
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To force e-nose samples to have fixed time increments.
Definition at line 153 of file CObservationGasSensors.h.
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To avoid the model estimation on first iteration.
Definition at line 155 of file CObservationGasSensors.h.
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To force e-nose samples to have fixed time increments.
Definition at line 152 of file CObservationGasSensors.h.
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Definition at line 148 of file CObservationGasSensors.h.
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Vector to temporally store and averge readings to reduce noise.
Definition at line 149 of file CObservationGasSensors.h.
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Ofstream to save to file option "save_maplog".
Definition at line 150 of file CObservationGasSensors.h.
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Minimum reading value till the moment, used as approximation to baeline level.
Definition at line 154 of file CObservationGasSensors.h.
| bool mrpt::slam::CObservationGasSensors::CMOSmodel::save_maplog |
If true save generated gas map as a log file.
Definition at line 126 of file CObservationGasSensors.h.
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protected |
The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmodel =1)
Definition at line 148 of file CObservationGasSensors.h.
| size_t mrpt::slam::CObservationGasSensors::CMOSmodel::winNoise_size |
The size of the mobile average window used to reduce noise on sensor reagings.
Definition at line 118 of file CObservationGasSensors.h.
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