Detailed DescriptionThe localize proxy provides an interface to localization drivers.
Generally speaking, these are abstract drivers that attempt to localize the robot by matching sensor observations (odometry, laser and/or sonar) against a prior map of the environment (such as an occupancy grid). Since the pose may be ambiguous, multiple hypotheses may returned; each hypothesis specifies one possible pose estimate for the robot. See the Player manual for details of the localize interface, and and drivers that support it (such as the amcl driver).
|Hypothesis data. More...|
|Localization device data. More...|
|Hypothesis data. |
|playerc_localize_t *||playerc_localize_create (playerc_client_t *client, int index)|
|Create a localize proxy. |
|void||playerc_localize_destroy (playerc_localize_t *device)|
|Destroy a localize proxy. |
|int||playerc_localize_subscribe (playerc_localize_t *device, int access)|
|Subscribe to the localize device. |
|int||playerc_localize_unsubscribe (playerc_localize_t *device)|
|Un-subscribe from the localize device. |
|int||playerc_localize_set_pose (playerc_localize_t *device, double pose, double cov)|
|Set the the robot pose (mean and covariance). |
|int||playerc_localize_get_particles (playerc_localize_t *device)|
|Request the particle set. |
Request the particle set.
Caller must supply sufficient storage for the result.