localize

The localize proxy provides an interface to localization drivers. More...


Detailed Description

The 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).

Classes

struct  playerc_localize_particle
 Hypothesis data. More...
struct  playerc_localize_t
 Localization device data. More...

Typedefs

typedef struct
playerc_localize_particle 
playerc_localize_particle_t
 Hypothesis data.

Functions

PLAYERC_EXPORT playerc_localize_tplayerc_localize_create (playerc_client_t *client, int index)
 Create a localize proxy.
PLAYERC_EXPORT void playerc_localize_destroy (playerc_localize_t *device)
 Destroy a localize proxy.
PLAYERC_EXPORT int playerc_localize_subscribe (playerc_localize_t *device, int access)
 Subscribe to the localize device.
PLAYERC_EXPORT int playerc_localize_unsubscribe (playerc_localize_t *device)
 Un-subscribe from the localize device.
PLAYERC_EXPORT int playerc_localize_set_pose (playerc_localize_t *device, double pose[3], double cov[6])
 Set the the robot pose (mean and covariance).
PLAYERC_EXPORT int playerc_localize_get_particles (playerc_localize_t *device)
 Request the particle set.

Typedef Documentation

Hypothesis data.


Function Documentation

PLAYERC_EXPORT playerc_localize_t* playerc_localize_create ( playerc_client_t client,
int  index 
)

Create a localize proxy.

PLAYERC_EXPORT void playerc_localize_destroy ( playerc_localize_t device)

Destroy a localize proxy.

PLAYERC_EXPORT int playerc_localize_get_particles ( playerc_localize_t device)

Request the particle set.

Caller must supply sufficient storage for the result.

Referenced by PlayerCc::LocalizeProxy::GetParticles().

PLAYERC_EXPORT int playerc_localize_set_pose ( playerc_localize_t device,
double  pose[3],
double  cov[6] 
)

Set the the robot pose (mean and covariance).

PLAYERC_EXPORT int playerc_localize_subscribe ( playerc_localize_t device,
int  access 
)

Subscribe to the localize device.

PLAYERC_EXPORT int playerc_localize_unsubscribe ( playerc_localize_t device)

Un-subscribe from the localize device.