localize.hh

/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2010
 *     Alejandro R. Mosteo
 *
 *
 *  This library is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  This library is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *  Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with this library; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 */

#ifndef LOCALIZE_HH_
#define LOCALIZE_HH_

#include "robot_location.hh"
#include "scan.hh"
#include "segment_map.hh"

class Localize
{
public:
    Localize(double laser_max_range,
             double laser_pose_x,
             double laser_pose_y,
             double laser_pose_angle,
             double laser_noise_range,   // uncertainty in distance measured (2sigma)
             double laser_noise_bearing, // uncertainty in sample bearing (2sigma)
             double odom_noise_x,
             double odom_noise_y,
             double odom_noise_angle // uncertainty for odometry model
             );

    void SetRobotPose(double x, double y, double angle);
    void SetPoses(double ox, double oy, double oth,
                  double gx, double gy, double gth);
    void SetRobotPoseError(double ex, double ey, double eth);

    void SetLaserPose(double x, double y, double a);

    void LoadMap(const char* filename);
    void SetMap(const SegmentsVector& map);
    void AddSegment(const Segment& segment);
    const SegmentMap &Map(void) const;

    bool Update(double robot_x, double robot_y, double robot_angle,
                DoublesVector ranges, DoublesVector bearings);

    Pose pose(void) const;
    MatrixXd GetCovariance(void) const { return robot_.Covariance(); };
private:
    Scan scan_;
    RobotLocation robot_;
    bool has_pose_;
};

#endif /* LOCALIZE_HH_ */