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amcl_gps.h Go to the documentation of this file. /* * Player - One Hell of a Robot Server * Copyright (C) 2000 Brian Gerkey et al. * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ // // Desc: GPS sensor model for AMCL // Author: Andrew Howard // Date: 17 Aug 2003 // CVS: $Id: amcl_gps.h,v 1.2 2004/09/07 00:20:41 gerkey Exp $ // #ifndef AMCL_GPS_H #define AMCL_GPS_H #include "amcl_sensor.h" #include "models/gps.h" // Gpsetric sensor model class AMCLGps : public AMCLSensor { // Default constructor public: AMCLGps(); // Load the model public: virtual int Load(ConfigFile* cf, int section); // Unload the model public: virtual int Unload(void); // Initialize the model public: virtual int Setup(void); // Finalize the model public: virtual int Shutdown(void); // Check for new sensor measurements private: virtual bool GetData(void); // Initialize the filter based on the sensor model. Returns true if the // filter has been initialized. public: virtual bool InitSensor(pf_t *pf, pf_vector_t mean, pf_matrix_t cov); // Update the filter based on the sensor model. Returns true if the // filter has been updated. public: virtual bool UpdateSensor(pf_t *pf); // Device info private: int gps_index; private: Driver *device; // Gpsetry sensor/action model private: gps_model_t *model; // Current data timestamp private: uint32_t tsec, tusec; // Current GPS data private: double utm_e, utm_n; private: double err_horz; #ifdef INCLUDE_RTKGUI // Setup the GUI private: virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig); // Finalize the GUI private: virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig); // Draw sensor data private: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig); // GPS figure private: rtk_fig_t *fig; #endif }; #endif