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localize [Interfaces] Detailed Description The localize interface provides pose information for the robot. Generally speaking, localization drivers will estimate the pose of the robot by comparing observed sensor readings against a pre-defined map of the environment. See, for the example, the amcl driver, which implements a probabilistic Monte-Carlo localization algorithm. This interface accepts no commands. Classes struct   player_localize_hypoth   Hypothesis format. More... struct   player_localize_data   Data. More... struct   player_localize_set_pose   Configuration request: Set the robot pose estimate. More... struct   player_localize_config   Configuration request: Get/Set configuration. More... struct   player_localize_particle struct   player_localize_get_particles   Configuration request: Get particles. More... Defines #define  PLAYER_LOCALIZE_MAX_HYPOTHS   10 #define  PLAYER_LOCALIZE_SET_POSE_REQ   ((uint8_t)1) #define  PLAYER_LOCALIZE_GET_CONFIG_REQ   ((uint8_t)2) #define  PLAYER_LOCALIZE_SET_CONFIG_REQ   ((uint8_t)3) #define  PLAYER_LOCALIZE_GET_PARTICLES_REQ   ((uint8_t)4) #define  PLAYER_LOCALIZE_PARTICLES_MAX   100 Typedefs typedef player_localize_hypoth  player_localize_hypoth_t   Hypothesis format. typedef player_localize_data  player_localize_data_t   Data. typedef player_localize_set_pose  player_localize_set_pose_t   Configuration request: Set the robot pose estimate. typedef player_localize_config  player_localize_config_t   Configuration request: Get/Set configuration. typedef player_localize_particle  player_localize_particle_t typedef player_localize_get_particles  player_localize_get_particles_t   Configuration request: Get particles. Define Documentation #define PLAYER_LOCALIZE_MAX_HYPOTHS   10   The maximum number of pose hypotheses. #define PLAYER_LOCALIZE_SET_POSE_REQ   ((uint8_t)1) #define PLAYER_LOCALIZE_GET_CONFIG_REQ   ((uint8_t)2) #define PLAYER_LOCALIZE_SET_CONFIG_REQ   ((uint8_t)3) #define PLAYER_LOCALIZE_GET_PARTICLES_REQ   ((uint8_t)4) #define PLAYER_LOCALIZE_PARTICLES_MAX   100 Typedef Documentation typedef struct player_localize_hypoth player_localize_hypoth_t   Hypothesis format. Since the robot pose may be ambiguous (i.e., the robot may at any of a number of widely spaced locations), the localize interface is capable of returning more that one hypothesis. typedef struct player_localize_data player_localize_data_t   Data. The localize interface returns a data packet containing an an array of hypotheses. typedef struct player_localize_set_pose player_localize_set_pose_t   Configuration request: Set the robot pose estimate. Set the current robot pose hypothesis. The server will reply with a zero length response packet. typedef struct player_localize_config player_localize_config_t   Configuration request: Get/Set configuration. To retrieve the configuration, set the subtype to PLAYER_LOCALIZE_GET_CONFIG_REQ and leave the other fields empty. The server will reply with the following configuaration fields filled in. To change the current configuration, set the subtype to PLAYER_LOCALIZE_SET_CONFIG_REQ and fill the configuration fields. typedef struct player_localize_particle player_localize_particle_t typedef struct player_localize_get_particles player_localize_get_particles_t   Configuration request: Get particles. Todo: Fill this in.