art_nav: estimate.h Source File

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00001 /* -*- mode: C++ -*-
00002  *
00003  *  ART odometry estimator interface
00004  *
00005  *  Copyright (C) 2010, Austin Robot Technology
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id: estimate.h 539 2010-09-03 13:14:10Z jack.oquin $
00009  */
00010 
00011 #ifndef _ESTIMATE_H_
00012 #define _ESTIMATE_H_
00013 
00014 #include <nav_msgs/Odometry.h>
00015 
00020 namespace Estimate
00021 {
00022   void control_pose(const nav_msgs::Odometry &odom,
00023                     ros::Time est_time,
00024                     nav_msgs::Odometry &est);
00025 
00026   void front_bumper_pose(const nav_msgs::Odometry &odom,
00027                          nav_msgs::Odometry &est);
00028 
00029   void front_axle_pose(const nav_msgs::Odometry &odom, 
00030                        nav_msgs::Odometry &est);
00031 }
00032 
00033 #endif // _ESTIMATE_H_