laser_slam: odom_localizer.h Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00039 #ifndef LASER_SLAM_ODOM_LOCALIZER_H
00040 #define LASER_SLAM_ODOM_LOCALIZER_H
00041 
00042 #include <laser_slam/laser_slam.h>
00043 #include <graph_slam/localizer.h>
00044 
00045 namespace laser_slam
00046 {
00047 
00049 class OdomLocalizer : public graph_slam::Localizer<ScanPtr>
00050 {
00051 public:
00052   
00053   OdomLocalizer();
00054 
00055   graph_slam::LocalizationDistribution::Ptr update (const Graph& graph, 
00056                                                     graph_mapping_msgs::LocalizationDistribution::ConstPtr loc,
00057                                                     const tf::Pose& rel_pose, const ScanPtr& cloud);
00058 
00059   typedef boost::shared_ptr<OdomLocalizer> Ptr;
00060                                                 
00061 };
00062 
00063 
00064 } // namespace
00065 
00066 #endif // include guard