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odometry.h Go to the documentation of this file. /************************************************************************** * Desc: Sensor/action models for odometry. * Author: Andrew Howard * Date: 15 Dec 2002 * CVS: $Id: odometry.h,v 1.5 2003/08/23 04:03:43 inspectorg Exp $ *************************************************************************/ #ifndef ODOMETRY_H #define ODOMETRY_H #include "../pf/pf.h" #include "../pf/pf_pdf.h" #ifdef __cplusplus extern "C" { #endif // Model information typedef struct { // PDF used for initialization pf_pdf_gaussian_t *init_pdf; // PDF used to generate action samples pf_pdf_gaussian_t *action_pdf; } odometry_t; // Create an sensor model odometry_t *odometry_alloc(); // Free an sensor model void odometry_free(odometry_t *sensor); // Prepare to initialize the distribution void odometry_init_init(odometry_t *self, pf_vector_t mean, pf_matrix_t cov); // Finish initializing the distribution void odometry_init_term(odometry_t *self); // Initialize the distribution pf_vector_t odometry_init_model(odometry_t *self); // Prepare to update the distribution using the action model. void odometry_action_init(odometry_t *self, pf_vector_t old_pose, pf_vector_t new_pose); // Finish updating the distrubiotn using the action model void odometry_action_term(odometry_t *self); // The action model function pf_vector_t odometry_action_model(odometry_t *self, pf_vector_t pose); #ifdef __cplusplus } #endif #endif