The localize proxy provides an interface to localization drivers. More...

Detailed Description

The localize proxy provides an interface to localization drivers.

Generally speaking, these are abstract drivers that attempt to localize the robot by matching sensor observations (odometry, laser and/or sonar) against a prior map of the environment (such as an occupancy grid). Since the pose may be ambiguous, multiple hypotheses may returned; each hypothesis specifies one possible pose estimate for the robot. See the Player manual for details of the localize interface, and and drivers that support it (such as the amcl driver).

Classes
struct	playerc_localize_particle
	Hypothesis data. More...

struct	playerc_localize_t
	Localization device data. More...

Typedefs
typedef struct playerc_localize_particle	playerc_localize_particle_t
	Hypothesis data. More...

Functions
PLAYERC_EXPORT playerc_localize_t *	playerc_localize_create (playerc_client_t *client, int index)
	Create a localize proxy. More...

PLAYERC_EXPORT void	playerc_localize_destroy (playerc_localize_t *device)
	Destroy a localize proxy. More...

PLAYERC_EXPORT int	playerc_localize_subscribe (playerc_localize_t *device, int access)
	Subscribe to the localize device. More...

PLAYERC_EXPORT int	playerc_localize_unsubscribe (playerc_localize_t *device)
	Un-subscribe from the localize device. More...

PLAYERC_EXPORT int	playerc_localize_set_pose (playerc_localize_t *device, double pose[3], double cov[6])
	Set the the robot pose (mean and covariance). More...

PLAYERC_EXPORT int	playerc_localize_get_particles (playerc_localize_t *device)
	Request the particle set. More...

Typedef Documentation

◆ playerc_localize_particle_t

typedef struct playerc_localize_particle playerc_localize_particle_t

Hypothesis data.

Function Documentation

◆ playerc_localize_create()

PLAYERC_EXPORT playerc_localize_t* playerc_localize_create	(	playerc_client_t *	client,
		int	index
	)

Create a localize proxy.

◆ playerc_localize_destroy()

PLAYERC_EXPORT void playerc_localize_destroy ( playerc_localize_t * device )

Destroy a localize proxy.

◆ playerc_localize_get_particles()

PLAYERC_EXPORT int playerc_localize_get_particles ( playerc_localize_t * device )

Request the particle set.

Caller must supply sufficient storage for the result.

Referenced by PlayerCc::LocalizeProxy::GetParticles().

◆ playerc_localize_set_pose()

PLAYERC_EXPORT int playerc_localize_set_pose	(	playerc_localize_t *	device,
		double	pose[3],
		double	cov[6]
	)

Set the the robot pose (mean and covariance).

◆ playerc_localize_subscribe()

PLAYERC_EXPORT int playerc_localize_subscribe	(	playerc_localize_t *	device,
		int	access
	)

Subscribe to the localize device.

◆ playerc_localize_unsubscribe()

PLAYERC_EXPORT int playerc_localize_unsubscribe ( playerc_localize_t * device )

Un-subscribe from the localize device.