motionmodel.h

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#ifndef MOTIONMODEL_H
#define MOTIONMODEL_H
 
#include <gmapping/utils/point.h>
#include <gmapping/utils/stat.h>
#include <gmapping/utils/macro_params.h>
 
namespace  GMapping { 
 
struct MotionModel{
        OrientedPoint drawFromMotion(const OrientedPoint& p, double linearMove, double angularMove) const;
        OrientedPoint drawFromMotion(const OrientedPoint& p, const OrientedPoint& pnew, const OrientedPoint& pold) const;
        Covariance3 gaussianApproximation(const OrientedPoint& pnew, const OrientedPoint& pold) const;
        double srr, str, srt, stt;
};
 
};
 
#endif