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sonar.h Go to the documentation of this file. /************************************************************************** * Desc: Sensor models for the sonar sensor. * Author: Andrew Howard * Date: 15 Dec 2002 * CVS: $Id: sonar.h,v 1.2 2003/05/08 17:22:19 inspectorg Exp $ *************************************************************************/ #ifndef SONAR_H #define SONAR_H #include "../pf/pf.h" #include "../map/map.h" #ifdef __cplusplus extern "C" { #endif #define SONAR_MAX_RANGES 32 // Model information typedef struct { // Pointer to the map map_t *map; // Pose of sonars relative to robot int pose_count; pf_vector_t poses[SONAR_MAX_RANGES]; // Covariance in the range reading double range_cov; // Probability of spurious range readings double range_bad; // Maximum valid range value double range_max; // Pre-computed sonar sensor model int lut_size; double lut_res; double *lut_probs; // Sonar range values int range_count; double ranges[SONAR_MAX_RANGES]; } sonar_t; // Create an sensor model sonar_t *sonar_alloc(map_t *map, int pose_count, pf_vector_t *poses); // Free an sensor model void sonar_free(sonar_t *sensor); // Clear all existing range readings void sonar_clear_ranges(sonar_t *sensor); // Set the sonar range readings that will be used. void sonar_add_range(sonar_t *sensor, double range); // The sensor model function double sonar_sensor_model(sonar_t *sensor, pf_vector_t pose); #ifdef __cplusplus } #endif #endif