localize
Interface specifications

Multi-hypothesis planar localization system. More...

#define | PLAYER_LOCALIZE_DATA_HYPOTHS 1
| Data subtype: pose hypotheses.
#define | PLAYER_LOCALIZE_REQ_SET_POSE 1
| Request/reply subtype: set pose hypothesis.
#define | PLAYER_LOCALIZE_REQ_GET_PARTICLES 2
| Request/reply subtype: get particle set.
typedef struct player_localize_hypoth | player_localize_hypoth_t
| Hypothesis format. More...
typedef struct player_localize_data | player_localize_data_t
| Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS) More...
typedef struct player_localize_set_pose | player_localize_set_pose_t
| Request/reply: Set the robot pose estimate. More...
typedef struct player_localize_particle | player_localize_particle_t
| A particle.
typedef struct player_localize_get_particles | player_localize_get_particles_t
| Request/reply: Get particles. More...

## Detailed Description

Multi-hypothesis planar localization system.

The `localize` interface provides pose information for the robot. Generally speaking, localization drivers will estimate the pose of the robot by comparing observed sensor readings against a pre-defined map of the environment. See, for the example, the amcl driver, which implements a probabilistic Monte-Carlo localization algorithm.

## Typedef Documentation

typedef struct player_localize_data player_localize_data_t

Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS)

The `localize` interface returns a data packet containing an an array of hypotheses.

typedef struct player_localize_get_particles player_localize_get_particles_t

Request/reply: Get particles.

To get (usually a subset of) the current particle set (assuming the underlying driver uses a particle filter), send a null PLAYER_LOCALIZE_REQ_GET_PARTICLES request.

typedef struct player_localize_hypoth player_localize_hypoth_t

Hypothesis format.

Since the robot pose may be ambiguous (i.e., the robot may at any of a number of widely spaced locations), the `localize` interface is capable of returning more that one hypothesis.

typedef struct player_localize_set_pose player_localize_set_pose_t

Request/reply: Set the robot pose estimate.

Set the current robot pose hypothesis by sending a PLAYER_LOCALIZE_REQ_SET_POSE request. Null response.

Last updated 12 September 2005 21:38:45