00001 #ifndef MOTIONMODEL_H 00002 #define MOTIONMODEL_H 00003 00004 #include <gmapping/utils/point.h> 00005 #include <gmapping/utils/stat.h> 00006 #include <gmapping/utils/macro_params.h> 00007 00008 namespace GMapping { 00009 00010 struct MotionModel{ 00011 OrientedPoint drawFromMotion(const OrientedPoint& p, double linearMove, double angularMove) const; 00012 OrientedPoint drawFromMotion(const OrientedPoint& p, const OrientedPoint& pnew, const OrientedPoint& pold) const; 00013 Covariance3 gaussianApproximation(const OrientedPoint& pnew, const OrientedPoint& pold) const; 00014 double srr, str, srt, stt; 00015 }; 00016 00017 }; 00018 00019 #endif