00001 #ifndef H_SM_RUBY_WRAPPER 00002 #define H_SM_RUBY_WRAPPER 00003 00004 #include <csm/csm.h> 00005 00008 int rb_sm_set_configuration(const char*name, const char*value); 00009 00010 00011 void rb_sm_odometry(double x, double y, double theta); 00012 void rb_sm_odometry_cov(double cov_x, double cov_y, double cov_theta); 00013 00014 int rb_sm_icp(); 00015 int rb_sm_gpm(); 00016 00017 const char *rb_result_to_json(); 00018 00019 LDP string_to_ld(const char*s); 00020 00021 00022 void rb_set_laser_ref(const char*s); 00023 void rb_set_laser_sens(const char*s); 00024 00025 void rb_sm_cleanup(); 00026 00027 00028 00029 void rb_sm_init_journal(const char*journal_file); 00030 void rb_sm_close_journal(); 00031 00032 #include <csm/csm.h> 00033 00034 extern struct sm_params rb_sm_params; 00035 extern struct sm_result rb_sm_result; 00036 00037 #endif