AdaptiveMCL Class Reference

Inheritance diagram for AdaptiveMCL:

Collaboration diagram for AdaptiveMCL:

Public Member Functions
	AdaptiveMCL (ConfigFile *cf, int section)
virtual int	MainSetup (void)
	Sets up the resources needed by the driver thread.
void	Push (AMCLSensorData *data)
virtual int	ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data)
	Message handler. More...
virtual void	UpdateSensorData (void)
Public Member Functions inherited from ThreadedDriver
	ThreadedDriver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interface_)
	Constructor with implicit interface. More...
	ThreadedDriver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
	Constructor for multiple-interface drivers. More...
virtual	~ThreadedDriver ()
	Destructor.
virtual int	Setup ()
	Initialize the driver. More...
virtual int	Shutdown ()
	Finalize the driver. More...
virtual int	Terminate ()
	Terminate the driver. More...
bool	Wait (double TimeOut=0.0)
	Wait for new data to arrive on the driver's queue. More...
virtual void	Update ()
	Update non-threaded drivers. More...
Public Member Functions inherited from Driver
bool	HasSubscriptions ()
virtual void	Publish (player_devaddr_t addr, QueuePointer &queue, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true)
	Publish a message via one of this driver's interfaces. More...
virtual void	Publish (player_devaddr_t addr, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true)
	Publish a message via one of this driver's interfaces. More...
virtual void	Publish (QueuePointer &queue, player_msghdr_t *hdr, void *src, bool copy=true)
	Publish a message via one of this driver's interfaces. More...
virtual void	Publish (player_msghdr_t *hdr, void *src, bool copy=true)
	Publish a message via one of this driver's interfaces. More...
	Driver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf)
	Constructor for single-interface drivers. More...
	Driver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
	Constructor for multiple-interface drivers. More...
virtual	~Driver ()
	Destructor.
int	GetError ()
	Get last error value. More...
virtual int	Subscribe (player_devaddr_t addr)
	Subscribe to this driver. More...
virtual int	Subscribe (QueuePointer &, player_devaddr_t)
	Subscribe to this driver. More...
virtual int	Unsubscribe (player_devaddr_t addr)
	Unsubscribe from this driver. More...
virtual int	Unsubscribe (QueuePointer &, player_devaddr_t)
	Unsubscribe from this driver. More...
void	ProcessMessages (int maxmsgs)
	Process pending messages. More...
void	ProcessMessages (void)
	Process pending messages. More...
virtual int	ProcessInternalMessages (QueuePointer &resp_queue, player_msghdr *hdr, void *data)
	Internal message handler. More...
virtual bool	RegisterProperty (const char *key, Property *property, ConfigFile *cf, int section)
	Property registration. More...
virtual bool	RegisterProperty (Property *property, ConfigFile *cf, int section)
	Property registration. More...

Private Member Functions
AMCLSensorData *	Peek (void)
AMCLSensorData *	Pop (void)
virtual void	Main (void)
	Main method for driver thread. More...
virtual void	MainQuit ()
	Cleanup method for driver thread (called when main exits) More...
void	InitFilter (void)
bool	UpdateFilter ()
void	PutDataLocalize (double time)
void	PutDataPosition (pf_vector_t delta, double time)
void	ProcessGeom (QueuePointer &resp_queue, player_msghdr_t *hdr)

Private Attributes
player_devaddr_t	position_addr
player_devaddr_t	localize_addr
int	sensor_count
AMCLSensor *	sensors [16]
int	init_sensor
int	action_sensor
pf_t *	pf
int	pf_min_samples
int	pf_max_samples
double	pf_err
double	pf_z
int	q_size
int	q_start
int	q_len
AMCLSensorData **	q_data
int	hyp_count
int	hyp_alloc
amcl_hyp_t *	hyps
pf_vector_t	best_hyp
pthread_mutex_t	best_hyp_lock
bool	pf_init
bool	pf_init_internal
pf_vector_t	pf_init_pose_mean
pf_matrix_t	pf_init_pose_cov
pf_vector_t	pf_odom_pose
double	min_dr
double	min_da

Additional Inherited Members
Public Attributes inherited from Driver
QueuePointer	ret_queue
	Last requester's queue. More...
player_devaddr_t	device_addr
	Default device address (single-interface drivers)
int	entries
	Total number of entries in the device table using this driver. More...
bool	alwayson
	Always on flag. More...
QueuePointer	InQueue
	Queue for all incoming messages for this driver.
Protected Member Functions inherited from ThreadedDriver
virtual void	StartThread (void)
virtual void	StopThread (void)
	Cancel (and wait for termination) of the driver thread. More...
void	TestCancel ()
	enable thread cancellation and test for cancellation More...
Protected Member Functions inherited from Driver
int	AddInterface (player_devaddr_t addr)
	Add an interface. More...
int	AddInterface (player_devaddr_t *addr, ConfigFile *cf, int section, int code, const char *key=NULL)
	Add an interface. More...
void	SetError (int code)
	Set/reset error code.
int	AddFileWatch (int fd, bool ReadWatch=true, bool WriteWatch=false, bool ExceptWatch=true)
	Wake up the driver if the specified event occurs on the file descriptor.
int	RemoveFileWatch (int fd, bool ReadWatch=true, bool WriteWatch=false, bool ExceptWatch=true)
	Remove a previously added watch, call with the same arguments as when adding the watch.
virtual void	Lock (void)
	Lock access between the server and driver threads. More...
virtual void	Unlock (void)
	Unlock access to driver internals. More...
virtual void	SubscriptionLock (void)
	Lock to protect the subscription count for the driver.
virtual void	SubscriptionUnlock (void)
	Unlock to protect the subscription count for the driver. More...
Static Protected Member Functions inherited from ThreadedDriver
static void *	DummyMain (void *driver)
	Dummy main (just calls real main). More...
static void	DummyMainQuit (void *driver)
	Dummy main cleanup (just calls real main cleanup). More...

Member Function Documentation

Main()

void AdaptiveMCL::Main ( void  )

privatevirtual

Main method for driver thread.

drivers have their own thread of execution, created using StartThread(); this is the entry point for the driver thread, and must be overloaded by all threaded drivers.

Implements ThreadedDriver.

References Driver::ProcessMessages().

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MainQuit()

void AdaptiveMCL::MainQuit ( void  )

privatevirtual

Cleanup method for driver thread (called when main exits)

Overload this method and to do additional cleanup when the driver thread exits.

Reimplemented from ThreadedDriver.

References player_localize_hypoth::alpha, player_localize_hypoth::cov, player_localize_data::hypoths, player_localize_data::hypoths_count, player_localize_hypoth::mean, player_pose2d::pa, player_localize_data::pending_count, player_localize_data::pending_time, PLAYER_LOCALIZE_DATA_HYPOTHS, PLAYER_MSG0, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, player_position2d_data::pos, Driver::ProcessMessages(), Driver::Publish(), player_pose2d::px, player_pose2d::py, and ThreadedDriver::Shutdown().

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ProcessMessage()

int AdaptiveMCL::ProcessMessage ( QueuePointer &  resp_queue, player_msghdr *  hdr, void *  data  )

virtual

Message handler.

This function is called once for each message in the incoming queue. Reimplement it to provide message handling. Return 0 if you handled the message and -1 otherwise

Parameters

resp_queue	The queue to which any response should go.
hdr	The message header
data	The message body

Reimplemented from Driver.

References player_localize_particle::alpha, player_localize_set_pose::cov, Driver::device_addr, Message::MatchMessage(), player_localize_set_pose::mean, player_localize_get_particles::mean, player_pose2d::pa, player_localize_get_particles::particles, player_localize_get_particles::particles_count, PLAYER_CAPABILITIES_REQ, PLAYER_LOCALIZE_REQ_GET_PARTICLES, PLAYER_LOCALIZE_REQ_SET_POSE, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_POSITION2D_REQ_GET_GEOM, player_localize_particle::pose, Driver::Publish(), player_pose2d::px, player_pose2d::py, player_msghdr::size, player_position2d_geom::size, player_bbox3d::sl, player_bbox3d::sw, and player_localize_get_particles::variance.

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The documentation for this class was generated from the following files:

• amcl.h
• amcl.cc