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gps.h Go to the documentation of this file. /* * Player - One Hell of a Robot Server * Copyright (C) 2000 Brian Gerkey & Kasper Stoy * gerkey@usc.edu kaspers@robotics.usc.edu * * 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: Sensor model for GPS. * Author: Andrew Howard * Date: 8 Aug 2003 * CVS: $Id: gps.h,v 1.2 2003/08/17 18:51:44 inspectorg Exp $ *************************************************************************/ #ifndef GPS_H #define GPS_H #include "../pf/pf.h" #include "../pf/pf_pdf.h" #ifdef __cplusplus extern "C" { #endif // Model information typedef struct { // UTM origin: UTM coord that maps to (0, 0) in global coords double utm_base_e, utm_base_n; // UTM grid coordinates double utm_e, utm_n; // Circular horizontal error double err_horz; // PDF used for initialization pf_pdf_gaussian_t *pdf; } gps_model_t; // Create an sensor model gps_model_t *gps_alloc(); // Free an sensor model void gps_free(gps_model_t *sensor); // Set the observed gps coordinates (UTM grid coordinates) void gps_set_utm(gps_model_t *self, double utm_e, double utm_n, double err_horz); // Prepare to initialize the distribution void gps_init_init(gps_model_t *self); // Finish initializing the distribution void gps_init_term(gps_model_t *self); // The sensor initialization function pf_vector_t gps_init_model(gps_model_t *self); // The sensor model function double gps_sensor_model(gps_model_t *self, pf_vector_t pose); #ifdef __cplusplus } #endif #endif