amcl_laser.h
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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: LASER sensor model for AMCL
00023 // Author: Andrew Howard
00024 // Date: 17 Aug 2003
00025 // CVS: $Id: amcl_laser.h 6443 2008-05-15 19:46:11Z gerkey $
00026 //
00028 
00029 #ifndef AMCL_LASER_H
00030 #define AMCL_LASER_H
00031 
00032 #include "amcl_sensor.h"
00033 #include "../map/map.h"
00034 
00035 namespace amcl
00036 {
00037 
00038 typedef enum
00039 {
00040   LASER_MODEL_BEAM,
00041   LASER_MODEL_LIKELIHOOD_FIELD
00042 } laser_model_t;
00043 
00044 // Laser sensor data
00045 class AMCLLaserData : public AMCLSensorData
00046 {
00047   public:
00048     AMCLLaserData () {ranges=NULL;};
00049     virtual ~AMCLLaserData() {delete [] ranges;};
00050   // Laser range data (range, bearing tuples)
00051   public: int range_count;
00052   public: double range_max;
00053   public: double (*ranges)[2];
00054 };
00055 
00056 
00057 // Laseretric sensor model
00058 class AMCLLaser : public AMCLSensor
00059 {
00060   // Default constructor
00061   public: AMCLLaser(size_t max_beams, map_t* map);
00062 
00063   public: void SetModelBeam(double z_hit,
00064                             double z_short,
00065                             double z_max,
00066                             double z_rand,
00067                             double sigma_hit,
00068                             double labda_short,
00069                             double chi_outlier);
00070 
00071   public: void SetModelLikelihoodField(double z_hit,
00072                                        double z_rand,
00073                                        double sigma_hit,
00074                                        double max_occ_dist);
00075   
00076   // Update the filter based on the sensor model.  Returns true if the
00077   // filter has been updated.
00078   public: virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data);
00079 
00080   // Set the laser's pose after construction
00081   public: void SetLaserPose(pf_vector_t& laser_pose) 
00082           {this->laser_pose = laser_pose;}
00083 
00084   // Determine the probability for the given pose
00085   private: static double BeamModel(AMCLLaserData *data, 
00086                                    pf_sample_set_t* set);
00087   // Determine the probability for the given pose
00088   private: static double LikelihoodFieldModel(AMCLLaserData *data, 
00089                                               pf_sample_set_t* set);
00090 
00091   private: laser_model_t model_type;
00092 
00093   // Current data timestamp
00094   private: double time;
00095 
00096   // The laser map
00097   private: map_t *map;
00098 
00099   // Laser offset relative to robot
00100   private: pf_vector_t laser_pose;
00101   
00102   // Max beams to consider
00103   private: int max_beams;
00104 
00105   // Laser model params
00106   //
00107   // Mixture params for the components of the model; must sum to 1
00108   private: double z_hit;
00109   private: double z_short;
00110   private: double z_max;
00111   private: double z_rand;
00112   //
00113   // Stddev of Gaussian model for laser hits.
00114   private: double sigma_hit;
00115   // Decay rate of exponential model for short readings.
00116   private: double lambda_short;
00117   // Threshold for outlier rejection (unused)
00118   private: double chi_outlier;
00119 };
00120 
00121 
00122 }
00123 
00124 #endif


amcl
Author(s): Brian P. Gerkey
autogenerated on Mon Oct 6 2014 02:49:04