Go to the documentation of this file.00001 #ifndef __HISTOGRAM
00002 #define __HISTOGRAM
00003 #include "geometry_msgs/Pose2D.h"
00004 #include "sensor_msgs/LaserScan.h"
00005 #include "ros/ros.h"
00006 typedef std::vector<int> Hist;
00007 Hist hist(sensor_msgs::LaserScan scan, int bins);
00008 geometry_msgs::Pose2D localize (sensor_msgs::LaserScan a, sensor_msgs::LaserScan b, int anglebins) ;
00009 int crossCorrelationHist (Hist x , Hist y) ;
00010 double error(sensor_msgs::LaserScan scan, sensor_msgs::LaserScan reference, geometry_msgs::Pose2D goal, ros::Publisher draw ,ros::Publisher drawRef);
00011 double error(sensor_msgs::LaserScan scan, sensor_msgs::LaserScan reference, geometry_msgs::Pose2D goal);
00012
00013 #define ANGLEBIN 100
00014 #define TRANSCOEF 10
00015 #define HISTSIZE 500
00016 #define HISTSIZEHALF 250
00017 #endif