amcl_sensor.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  */
00020 //
00021 // Desc: Adaptive Monte-Carlo localization
00022 // Author: Andrew Howard
00023 // Date: 6 Feb 2003
00024 // CVS: $Id: amcl_sensor.h 6443 2008-05-15 19:46:11Z gerkey $
00025 //
00027 
00028 #ifndef AMCL_SENSOR_H
00029 #define AMCL_SENSOR_H
00030 
00031 #include "../pf/pf.h"
00032 
00033 namespace amcl
00034 {
00035 
00036 // Forward declarations
00037 class AMCLSensorData;
00038 
00039 
00040 // Base class for all AMCL sensors
00041 class AMCLSensor
00042 {
00043   // Default constructor
00044   public: AMCLSensor();
00045          
00046   // Default destructor
00047   public: virtual ~AMCLSensor();
00048 
00049   // Update the filter based on the action model.  Returns true if the filter
00050   // has been updated.
00051   public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data);
00052 
00053   // Initialize the filter based on the sensor model.  Returns true if the
00054   // filter has been initialized.
00055   public: virtual bool InitSensor(pf_t *pf, AMCLSensorData *data);
00056 
00057   // Update the filter based on the sensor model.  Returns true if the
00058   // filter has been updated.
00059   public: virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data);
00060 
00061   // Flag is true if this is the action sensor
00062   public: bool is_action;
00063 
00064   // Action pose (action sensors only)
00065   public: pf_vector_t pose;
00066 
00067   // AMCL Base
00068   //protected: AdaptiveMCL & AMCL;
00069 
00070 #ifdef INCLUDE_RTKGUI
00071   // Setup the GUI
00072   public: virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
00073 
00074   // Finalize the GUI
00075   public: virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
00076 
00077   // Draw sensor data
00078   public: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, AMCLSensorData *data);
00079 #endif
00080 };
00081 
00082 
00083 
00084 // Base class for all AMCL sensor measurements
00085 class AMCLSensorData
00086 {
00087   // Pointer to sensor that generated the data
00088   public: AMCLSensor *sensor;
00089           virtual ~AMCLSensorData() {}
00090 
00091   // Data timestamp
00092   public: double time;
00093 };
00094 
00095 }
00096 
00097 #endif


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