sonar.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 sonar sensor.
* Author: Andrew Howard
* Date: 15 Dec 2002
* CVS: $Id: sonar.h 8108 2009-07-23 23:03:37Z thjc $
*************************************************************************/
#ifndef SONAR_H
#define SONAR_H
#include "../pf/pf.h"
#include "../map/map.h"
#ifdef __cplusplus
extern "C" {
#endif
#define SONAR_MAX_RANGES 32
// Model information
typedef struct
{
// Pointer to the map
map_t *map;
// Pose of sonars relative to robot
int pose_count;
pf_vector_t poses[SONAR_MAX_RANGES];
// Covariance in the range reading
double range_cov;
// Probability of spurious range readings
double range_bad;
// Maximum valid range value
double range_max;
// Pre-computed sonar sensor model
int lut_size;
double lut_res;
double *lut_probs;
// Sonar range values
int range_count;
double ranges[SONAR_MAX_RANGES];
} sonar_t;
// Create an sensor model
sonar_t *sonar_alloc(map_t *map, int pose_count, pf_vector_t *poses);
// Free an sensor model
void sonar_free(sonar_t *sensor);
// Clear all existing range readings
void sonar_clear_ranges(sonar_t *sensor);
// Set the sonar range readings that will be used.
void sonar_add_range(sonar_t *sensor, double range);
// The sensor model function
double sonar_sensor_model(sonar_t *sensor, pf_vector_t pose);
#ifdef __cplusplus
}
#endif
#endif
sonar_t
Definition: sonar.h:44
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