laser.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2003
* Andrew Howard
* Brian Gerkey
*
* 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 models for the laser sensor.
* Author: Andrew Howard
* Date: 15 Dec 2002
* CVS: $Id: laser.h 8108 2009-07-23 23:03:37Z thjc $
*************************************************************************/
#ifndef LASER_H
#define LASER_H
#include "../pf/pf.h"
#include "../map/map.h"
#ifdef __cplusplus
extern "C" {
#endif
// Info for a single range measurement
typedef struct
{
double range, bearing;
} laser_range_t;
// Model information
typedef struct
{
// Pointer to the map
map_t *map;
// Laser pose relative to robot
pf_vector_t laser_pose;
// Covariance in the range reading
double range_cov;
// Probability of spurious range readings
double range_bad;
// Pre-computed laser sensor model
int lut_size;
double lut_res;
double *lut_probs;
// Laser (range, bearing) values
int range_count;
laser_range_t *ranges;
} laser_t;
// Create an sensor model
laser_t *laser_alloc(map_t *map);
// Free an sensor model
void laser_free(laser_t *sensor);
// Clear all existing range readings
void laser_clear_ranges(laser_t *sensor);
// Set the laser range readings that will be used.
void laser_add_range(laser_t *sensor, double range, double bearing);
// The sensor model function
double laser_sensor_model(laser_t *sensor, pf_vector_t pose);
#ifdef __cplusplus
}
#endif
#endif
laser_range_t
Definition: laser.h:43
laser_t
Definition: laser.h:51
map_t
Definition: localization/amcl/map/map.h:66
pf_vector_t
Definition: pf_vector.h:41

Last updated 12 September 2005 21:38:45