mobile_robot.h
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00001 // $Id: mobile_robot.h tdelaet $
00002 // Copyright (C) 2006  Tinne De Laet <first dot last at mech dot kuleuven dot be>
00003 //
00004 // This program is free software; you can redistribute it and/or modify
00005 // it under the terms of the GNU Lesser General Public License as published by
00006 // the Free Software Foundation; either version 2.1 of the License, or
00007 // (at your option) any later version.
00008 //
00009 // This program is distributed in the hope that it will be useful,
00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012 // GNU Lesser General Public License for more details.
00013 //
00014 // You should have received a copy of the GNU Lesser General Public License
00015 // along with this program; if not, write to the Free Software
00016 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
00017 //
00018 
00019 #ifndef MOBILE_ROBOT_HPP
00020 #define MOBILE_ROBOT_HPP
00021 
00022 
00023 #include <model/analyticsystemmodel_gaussianuncertainty.h>
00024 #include <model/linearanalyticmeasurementmodel_gaussianuncertainty.h>
00025 #include <pdf/gaussian.h>
00026 #include <wrappers/matrix/matrix_wrapper.h>
00027 #include <wrappers/matrix/vector_wrapper.h>
00028 
00029 #include "mobile_robot_wall_cts.h"
00030 #include "nonlinearanalyticconditionalgaussianmobile.h"
00031 
00032 
00033 namespace BFL{
00034 
00036 
00047   class MobileRobot
00048     {
00049     public:
00050       // Constructor
00051       MobileRobot();
00052       ~MobileRobot();
00053 
00054       void Move(MatrixWrapper::ColumnVector inputs);
00055       MatrixWrapper::ColumnVector Measure();
00056       MatrixWrapper::ColumnVector GetState(); //method only for simulation purposes
00057 
00058     private:
00059       Gaussian* _system_Uncertainty;
00060       NonLinearAnalyticConditionalGaussianMobile* _sys_pdf;
00061       AnalyticSystemModelGaussianUncertainty* _sys_model;
00062       Gaussian* _measurement_Uncertainty;
00063       LinearAnalyticConditionalGaussian* _meas_pdf;
00064       LinearAnalyticMeasurementModelGaussianUncertainty* _meas_model;
00065       MatrixWrapper::ColumnVector _state;
00066     };
00067 }
00068 
00069 #endif


bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Sun Oct 5 2014 22:29:53