imu.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000 Brian Gerkey & Kasper Stoy
* gerkey@usc.edu kaspers@robotics.usc.edu
*
* 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: Sensor model for IMU.
* Author: Andrew Howard
* Date: 8 Aug 2003
* CVS: $Id: imu.h 1685 2003-08-17 18:51:44Z inspectorg $
*************************************************************************/
#ifndef IMU_H
#define IMU_H
#include "../pf/pf.h"
#include "../pf/pf_pdf.h"
#ifdef __cplusplus
extern "C" {
#endif
// Model information
typedef struct
{
// UTM heading
double utm_head;
// Expected bearing error
double err_head;
} imu_model_t;
// Create an sensor model
imu_model_t *imu_alloc();
// Free an sensor model
void imu_free(imu_model_t *sensor);
// Set the observed heading (utm)
void imu_set_utm(imu_model_t *self, double utm_head);
// The sensor model function
double imu_sensor_model(imu_model_t *self, pf_vector_t pose);
#ifdef __cplusplus
}
#endif
#endif
imu_model_t
Definition: imu.h:40
pf_vector_t
Definition: pf_vector.h:41

Last updated 12 September 2005 21:38:45