/******************************************************************************    File Name:   MH/MultiHypo.h    Description: Hypothesis tree structure,                 for multi-hypothesis map matching algorithms******************************************************************************//******************************************************************************    Author: alfred.liushu@gmail.com	    Upadate:        2008/09/18  File founded    Copyright 2008-2009 Robot Lab., Dept.of Automation, Tsinghua University******************************************************************************/#ifndef __MULTIHYPO_H__#define __MULTIHYPO_H__#include "../map/SubMap.h"#include "../common/Interface.h"#include "../common/Integration.h"/******************************                   Hypothesis tree node                      ***************************************************//*Tree size limit*/const UINT MaxTreeDeg = 4;                                              /*Maximum degree of tree nodes*//*Tree node structure*/typedef struct HypoNode : public PERIOD{    /*Data fields*/    DATATYPE        finalBear;                                          /*Final bearing of the period*/    DATATYPE        disOnLink;                                          /*Distance run on the link*/    DATATYPE        weight;                                             /*Weight of the hypothesis*/    /*Flag fields*/    bool            inUse;                                              /*Label whether the node is in use*/    bool            active;                                             /*Active label of the node: whether allowed to generate children nodes*/    /*Pointer fields*/    HypoNode*       parent;                                             /*Link to parent node*/    HypoNode():weight(0),inUse(0),active(0),parent(NULL){};             /*Default constructor*/}HYPO,*HYPOPTR;/******************************                   Operations with the hypothesis tree       ***************************************************//*Hypothesis parameters*/const UINT MaxHypoLength = 50;                                          /*Maximum length of one hypothesis*/const UINT MaxActive = 1000;                                             /*Maximum active hypothesis count*/const UINT MaxObserved = 200;                                            /*Maximum active hypothesis count after an observation*/const UINT HypoSpace = MaxActive * MaxHypoLength * (MaxTreeDeg+1);      /*Maximum hypothesis node count*/const DATATYPE WeightSame = DATATYPE(1e-20);                            /*Computational threshould to determine weights almost the same*///const DATATYPE WeightGain = DATATYPE(0.12);                             /*Parameter in belief calculation*//*Multi-hypothesis class*/typedef class MultiHypo : public Interface{protected:    UINT            accumCount;                                         /*Step count of weight accumulation*/    HypoNode        hypos[HypoSpace];                                   /*Array of hypothesis nodes*/    int             flags[HypoSpace];                                   /*Array of assistant flags*/    UINT            activeCount;                                        /*Count of active hypotheses*/    HypoNode*       bestHypo;                                           /*Best hypothesis*/    void GetBestHypo(void);                                             /*Find the best hypothesis*/    void SetActiveHypos(UINT number);                                   /*Set active hypotheses according to a number*/    void CutOldNodes(void);                                             /*Cut off old nodes not in use*/public:    MultiHypo();                                                        /*Default constructor*/    ~MultiHypo()=0;                                                     /*Default destructor*/    RETCHECK GetResult(TIME time, RESULT& result);                      /*Matching result at given time*/    UINT GetRoute(UINT count, ROUTE route[]);                           /*Recent route, including several links according to count*/}MultiHypo;#endif /*__MULTIHYPO_H__*/