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amcl_odom.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: Odometry sensor model for AMCL // Author: Andrew Howard // Date: 17 Aug 2003 // CVS: $Id: amcl_odom.h,v 1.5 2004/11/12 20:02:14 gerkey Exp $ // #ifndef AMCL_ODOM_H #define AMCL_ODOM_H #include "amcl_sensor.h" #include "pf/pf_pdf.h" // Odometric sensor data class AMCLOdomData : public AMCLSensorData { // Odometric pose public: pf_vector_t pose; // Change in odometric pose public: pf_vector_t delta; }; // Odometric sensor model class AMCLOdom : public AMCLSensor { // Default constructor public: AMCLOdom(player_device_id_t id); // 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 AMCLSensorData *GetData(void); // Update the filter based on the action model. Returns true if the filter // has been updated. public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data); // The action model callback (static method) public: static pf_vector_t ActionModel(AMCLOdom *self, pf_vector_t pose); // Device info private: player_device_id_t odom_id; private: Driver *driver; // Current data timestamp private: struct timeval time; // Drift model private: pf_matrix_t drift; // PDF used to generate action samples private: pf_pdf_gaussian_t *action_pdf; #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); #endif }; #endif