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amcl_sensor.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: Adaptive Monte-Carlo localization // Author: Andrew Howard // Date: 6 Feb 2003 // CVS: $Id: amcl_sensor.h,v 1.3 2003/11/21 00:05:06 inspectorg Exp $ // #ifndef AMCL_SENSOR_H #define AMCL_SENSOR_H #include "device.h" #include "configfile.h" #include "pf/pf.h" // Forward declarations class AMCLSensorData; // Base class for all AMCL sensors class AMCLSensor { // Default constructor public: AMCLSensor(); // 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); // Get new sensor data (non-blocking) public: 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); // Initialize the filter based on the sensor model. Returns true if the // filter has been initialized. public: virtual bool InitSensor(pf_t *pf, AMCLSensorData *data); // Update the filter based on the sensor model. Returns true if the // filter has been updated. public: virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data); // Flag is true if this is the action sensor public: bool is_action; // Action pose (action sensors only) public: pf_vector_t pose; #ifdef INCLUDE_RTKGUI // Setup the GUI public: virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig); // Finalize the GUI public: virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig); // Draw sensor data public: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, AMCLSensorData *data); #endif }; // Base class for all AMCL sensor measurements class AMCLSensorData { // Pointer to sensor that generated the data public: AMCLSensor *sensor; // Data timestamp public: uint32_t tsec, tusec; }; #endif