localize
[Interface specifications]
Detailed Description
Multi-hypothesis planar localization system.
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.
| #define | PLAYER_LOCALIZE_MAX_HYPOTHS 10 |
| The maximum number of pose hypotheses. | |
| #define | PLAYER_LOCALIZE_PARTICLES_MAX 100 |
| The maximum number of particles (for particle-based localization algorithms). | |
| #define | PLAYER_LOCALIZE_DATA_HYPOTHS 1 |
| Data subtype: pose hypotheses. | |
| #define | PLAYER_LOCALIZE_REQ_SET_POSE 1 |
| Request/reply subtype: set pose hypothesis. | |
| #define | PLAYER_LOCALIZE_REQ_GET_PARTICLES 2 |
| Request/reply subtype: get particle set. | |
| typedef player_localize_hypoth | player_localize_hypoth_t |
| Hypothesis format. | |
| typedef player_localize_data | player_localize_data_t |
| Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS). | |
| typedef player_localize_set_pose | player_localize_set_pose_t |
| Request/reply: Set the robot pose estimate. | |
| typedef player_localize_particle | player_localize_particle_t |
| A particle. | |
| typedef player_localize_get_particles | player_localize_get_particles_t |
| Request/reply: Get particles. |
Typedef Documentation
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Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS).
The |
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Request/reply: Get particles. To get (usually a subset of) the current particle set (assuming the underlying driver uses a particle filter), send a null PLAYER_LOCALIZE_REQ_GET_PARTICLES request. |
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Hypothesis format.
Since the robot pose may be ambiguous (i.e., the robot may at any of a number of widely spaced locations), the |
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Request/reply: Set the robot pose estimate. Set the current robot pose hypothesis by sending a PLAYER_LOCALIZE_REQ_SET_POSE request. Null response. |