HistogramFilterMazeLocalization.hpp

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#ifndef SRC_APPLICATION_HISTOGRAMFILTERMAZELOCALIZATION_HPP_
#define SRC_APPLICATION_HISTOGRAMFILTERMAZELOCALIZATION_HPP_

#include <types/MatrixTypes.hpp>

#include <importers/MazeMatrixImporter.hpp>

#include <algorithms/MazeHistogramFilter.hpp>

#include <opengl/application/OpenGLApplication.hpp>
#include <opengl/visualization/WindowCollectorChart.hpp>

#include <types/Action2D.hpp>
using namespace mic::opengl::visualization;



namespace mic {
namespace application {

class HistogramFilterMazeLocalization: public mic::opengl::application::OpenGLApplication {
public:
    HistogramFilterMazeLocalization(std::string node_name_ = "application");

    virtual ~HistogramFilterMazeLocalization();

protected:
    virtual void initializePropertyDependentVariables();

    virtual void initialize(int argc, char* argv[]);

    virtual bool performSingleStep();

    void createDataContainers();

    void storeCurrentStateInDataContainers(bool synchronize_);

private:

    WindowCollectorChart<float>* w_current_maze_chart;

    WindowCollectorChart<float>* w_current_coordinate_x;

    WindowCollectorChart<float>* w_current_coordinate_y;

    mic::utils::DataCollectorPtr<std::string, float> max_probabilities_collector_ptr;

    mic::utils::DataCollectorPtr<std::string, float> maze_collector_ptr;
    mic::utils::DataCollectorPtr<std::string, float> coordinate_x_collector_ptr;
    mic::utils::DataCollectorPtr<std::string, float> coordinate_y_collector_ptr;

    WindowCollectorChart<float> * w_max_probabilities_chart;

    mic::importers::MazeMatrixImporter importer;

    mic::algorithms::MazeHistogramFilter hf;

    mic::configuration::Property<short> hidden_maze_number;

    mic::configuration::Property<short> hidden_x;

    mic::configuration::Property<short> hidden_y;


    mic::configuration::Property<short> action;

    mic::configuration::Property<double> epsilon;

    mic::configuration::Property<double> hit_factor;

    mic::configuration::Property<double> miss_factor;

    mic::configuration::Property<double> exact_move_probability;

    mic::configuration::Property<double> overshoot_move_probability;

    mic::configuration::Property<double> undershoot_move_probability;

    mic::configuration::Property<std::string> statistics_filename;
};

} /* namespace application */
} /* namespace mic */

#endif /* SRC_APPLICATION_HISTOGRAMFILTERMAZELOCALIZATION_HPP_ */