Program Listing for File differential_motion_model.hpp
↰ Return to documentation for file (/tmp/ws/src/navigation2/nav2_amcl/include/nav2_amcl/motion_model/differential_motion_model.hpp
)
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000 Brian Gerkey & Kasper Stoy
* gerkey@usc.edu kaspers@robotics.usc.edu
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#ifndef NAV2_AMCL__MOTION_MODEL__DIFFERENTIAL_MOTION_MODEL_HPP_
#define NAV2_AMCL__MOTION_MODEL__DIFFERENTIAL_MOTION_MODEL_HPP_
#include <sys/types.h>
#include <math.h>
#include <algorithm>
#include "nav2_amcl/motion_model/motion_model.hpp"
#include "nav2_amcl/angleutils.hpp"
namespace nav2_amcl
{
class DifferentialMotionModel : public nav2_amcl::MotionModel
{
public:
virtual void initialize(
double alpha1, double alpha2, double alpha3, double alpha4,
double alpha5);
virtual void odometryUpdate(pf_t * pf, const pf_vector_t & pose, const pf_vector_t & delta);
private:
double alpha1_, alpha2_, alpha3_, alpha4_, alpha5_;
};
} // namespace nav2_amcl
#endif // NAV2_AMCL__MOTION_MODEL__DIFFERENTIAL_MOTION_MODEL_HPP_