amcl_gps.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000 Brian Gerkey et al.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
//
// Desc: GPS sensor model for AMCL
// Author: Andrew Howard
// Date: 17 Aug 2003
// CVS: $Id: amcl_gps.h 2394 2004-09-07 00:20:48Z gerkey $
//
#ifndef AMCL_GPS_H
#define AMCL_GPS_H
#include "amcl_sensor.h"
#include "models/gps.h"
// Gpsetric sensor model
class AMCLGps : public AMCLSensor
{
// Default constructor
public: AMCLGps();
// Load the model
public: virtual int Load(ConfigFile* cf, int section);
// Unload the model
public: virtual int Unload(void);
// Initialize the model
public: virtual int Setup(void);
// Finalize the model
public: virtual int Shutdown(void);
// Check for new sensor measurements
private: virtual bool GetData(void);
// Initialize the filter based on the sensor model. Returns true if the
// filter has been initialized.
public: virtual bool InitSensor(pf_t *pf, pf_vector_t mean, pf_matrix_t cov);
// Update the filter based on the sensor model. Returns true if the
// filter has been updated.
public: virtual bool UpdateSensor(pf_t *pf);
// Device info
private: int gps_index;
private: Driver *device;
// Gpsetry sensor/action model
private: gps_model_t *model;
// Current data timestamp
private: uint32_t tsec, tusec;
// Current GPS data
private: double utm_e, utm_n;
private: double err_horz;
#ifdef INCLUDE_RTKGUI
// Setup the GUI
private: virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
// Finalize the GUI
private: virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
// Draw sensor data
private: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
// GPS figure
private: rtk_fig_t *fig;
#endif
};
#endif
ConfigFile
Class for loading configuration file information.
Definition: configfile.h:196
_pf_t
Definition: pf.h:110
AMCLSensor
Definition: amcl_sensor.h:43
gps_model_t
Definition: gps.h:40
Driver
Base class for all drivers.
Definition: driver.h:108
AMCLGps
Definition: amcl_gps.h:36
pf_matrix_t
Definition: pf_vector.h:48
pf_vector_t
Definition: pf_vector.h:41

Last updated 12 September 2005 21:38:45