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laser.h Go to the documentation of this file. /************************************************************************** * Desc: Sensor models for the laser sensor. * Author: Andrew Howard * Date: 15 Dec 2002 * CVS: $Id: laser.h,v 1.5 2003/08/23 04:03:43 inspectorg Exp $ *************************************************************************/ #ifndef LASER_H #define LASER_H #include "../pf/pf.h" #include "../map/map.h" #ifdef __cplusplus extern "C" { #endif // Info for a single range measurement typedef struct { double range, bearing; } laser_range_t; // Model information typedef struct { // Pointer to the map map_t *map; // Laser pose relative to robot pf_vector_t laser_pose; // Covariance in the range reading double range_cov; // Probability of spurious range readings double range_bad; // Pre-computed laser sensor model int lut_size; double lut_res; double *lut_probs; // Laser (range, bearing) values int range_count; laser_range_t *ranges; } laser_t; // Create an sensor model laser_t *laser_alloc(map_t *map); // Free an sensor model void laser_free(laser_t *sensor); // Clear all existing range readings void laser_clear_ranges(laser_t *sensor); // Set the laser range readings that will be used. void laser_add_range(laser_t *sensor, double range, double bearing); // The sensor model function double laser_sensor_model(laser_t *sensor, pf_vector_t pose); #ifdef __cplusplus } #endif #endif