EndpointModel.h
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00001 // SVN $HeadURL$
00002 // SVN $Id$
00003 
00004 /*
00005  * 6D localization for humanoid robots
00006  *
00007  * Copyright 2009-2012 Armin Hornung, University of Freiburg
00008  * http://www.ros.org/wiki/humanoid_localization
00009  *
00010  *
00011  * This program is free software: you can redistribute it and/or modify
00012  * it under the terms of the GNU General Public License as published by
00013  * the Free Software Foundation, version 3.
00014  *
00015  * This program is distributed in the hope that it will be useful,
00016  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  * GNU General Public License for more details.
00019  *
00020  * You should have received a copy of the GNU General Public License
00021  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
00022  */
00023 
00024 #ifndef HUMANOID_LOCALIZATION_ENDPOINTMODEL_H_
00025 #define HUMANOID_LOCALIZATION_ENDPOINTMODEL_H_
00026 
00027 #include <limits>
00028 #include<cmath>
00029 
00030 #include <omp.h>
00031 
00032 #include <ros/ros.h>
00033 #include <tf/transform_datatypes.h>
00034 
00035 #include <humanoid_localization/ObservationModel.h>
00036 #include <octomap/octomap.h>
00037 #include <dynamicEDT3D/dynamicEDTOctomap.h>
00038 #include <visualization_msgs/Marker.h>
00039 
00040 
00041 namespace humanoid_localization{
00042 class EndpointModel : public ObservationModel {
00043 public:
00044   EndpointModel(ros::NodeHandle* nh, boost::shared_ptr<MapModel> mapModel, EngineT * rngEngine);
00045   virtual ~EndpointModel();
00046   virtual void integrateMeasurement(Particles& particles, const PointCloud& pc, const std::vector<float>& ranges, float max_range, const tf::Transform& baseToSensor);
00047 
00048   virtual void setMap(boost::shared_ptr<octomap::OcTree> map);
00049 
00050 protected:
00051   bool getHeightError(const Particle& p, const tf::StampedTransform& footprintToBase, double& heightError) const;
00052   void initDistanceMap();
00053   double m_sigma;
00054   double m_maxObstacleDistance;
00055   boost::shared_ptr<DynamicEDTOctomap> m_distanceMap;
00056 };
00057 
00058 }
00059 
00060 #endif
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humanoid_localization
Author(s): Armin Hornung, Stefan Osswald, Daniel Maier
autogenerated on Tue Oct 15 2013 10:06:09