amcl_odom.h
Go to the documentation of this file.00001 /* 00002 * Player - One Hell of a Robot Server 00003 * Copyright (C) 2000 Brian Gerkey et al. 00004 * 00005 * This library is free software; you can redistribute it and/or 00006 * modify it under the terms of the GNU Lesser General Public 00007 * License as published by the Free Software Foundation; either 00008 * version 2.1 of the License, or (at your option) any later version. 00009 * 00010 * This library is distributed in the hope that it will be useful, 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00013 * Lesser General Public License for more details. 00014 * 00015 * You should have received a copy of the GNU Lesser General Public 00016 * License along with this library; if not, write to the Free Software 00017 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00018 * 00019 */ 00021 // 00022 // Desc: Odometry sensor model for AMCL 00023 // Author: Andrew Howard 00024 // Date: 17 Aug 2003 00025 // CVS: $Id: amcl_odom.h 4135 2007-08-23 19:58:48Z gerkey $ 00026 // 00028 00029 #ifndef AMCL_ODOM_H 00030 #define AMCL_ODOM_H 00031 00032 #include "amcl_sensor.h" 00033 #include "../pf/pf_pdf.h" 00034 00035 namespace amcl 00036 { 00037 00038 typedef enum 00039 { 00040 ODOM_MODEL_DIFF, 00041 ODOM_MODEL_OMNI 00042 } odom_model_t; 00043 00044 // Odometric sensor data 00045 class AMCLOdomData : public AMCLSensorData 00046 { 00047 // Odometric pose 00048 public: pf_vector_t pose; 00049 00050 // Change in odometric pose 00051 public: pf_vector_t delta; 00052 }; 00053 00054 00055 // Odometric sensor model 00056 class AMCLOdom : public AMCLSensor 00057 { 00058 // Default constructor 00059 public: AMCLOdom(); 00060 00061 public: void SetModelDiff(double alpha1, 00062 double alpha2, 00063 double alpha3, 00064 double alpha4); 00065 00066 public: void SetModelOmni(double alpha1, 00067 double alpha2, 00068 double alpha3, 00069 double alpha4, 00070 double alpha5); 00071 00072 // Update the filter based on the action model. Returns true if the filter 00073 // has been updated. 00074 public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data); 00075 00076 // Current data timestamp 00077 private: double time; 00078 00079 // Model type 00080 private: odom_model_t model_type; 00081 00082 // Drift parameters 00083 private: double alpha1, alpha2, alpha3, alpha4, alpha5; 00084 }; 00085 00086 00087 } 00088 00089 #endif