amcl_fiducial.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: FIDUCIAL sensor model for AMCL
// Author: David Feil-Seifer
// Date: 17 Aug 2003
// CVS: $Id: amcl_fiducial.h 2951 2005-08-19 00:48:20Z gerkey $
//
#ifndef AMCL_FIDUCIAL_H
#define AMCL_FIDUCIAL_H
#include "amcl_sensor.h"
#include "map/map.h"
#include "models/laser.h"
// Laser sensor data
class AMCLFiducialData : public AMCLSensorData
{
// Laser range data (range, bearing tuples)
public: int fiducial_count;
public: double fiducials[PLAYER_FIDUCIAL_MAX_SAMPLES][3];
};
class AMCLFiducialMap
{
//x,y,id
public: int fiducial_count;
public: double origin_x;
public: double origin_y;
public: double scale;
public: double fiducials[100][3];
};
double fiducial_map_calc_range( AMCLFiducialMap* fmap, double ox, double oy, double oa, double max_range, int id, int k);
double fiducial_map_calc_bearing( AMCLFiducialMap* fmap, double ox, double oy, double oa, double max_range, int id, int k);
AMCLFiducialMap* fiducial_map_alloc();
// Laseretric sensor model
class AMCLFiducial : public AMCLSensor
{
// Default constructor
public: AMCLFiducial(player_devaddr_t addr);
// 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 AMCLSensorData *GetData(void);
// Update the filter based on the sensor model. Returns true if the
// filter has been updated.
public: virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data);
// Determine the probability for the given pose
private: static double SensorModel(AMCLFiducialData *data, pf_vector_t pose);
// retrieve the map
private: int SetupMap(void);
private: int read_map_file(const char *);
// Device info
private: player_device_id_t fiducial_id;
private: player_device_id_t map_id;
private: Driver *driver;
// Current data timestamp
private: double time;
// The laser map
private: map_t *map;
// The fiducial map
private: AMCLFiducialMap *fmap;
// Laser offset relative to robot
private: pf_vector_t laser_pose;
// Max valid laser range
private: double range_max;
// Laser range variance
private: double range_var;
// Laser angle variance
private: double angle_var;
// Probability of bad range readings
private: double range_bad;
// Probability of bad angle readings
private: double angle_bad;
#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
public: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, AMCLSensorData *data);
// Figures
private: rtk_fig_t *fig, *map_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
player_devaddr
A device address.
Definition: player.h:141
AMCLFiducialData
Definition: amcl_fiducial.h:37
map_t
Definition: localization/amcl/map/map.h:66
AMCLFiducialMap
Definition: amcl_fiducial.h:45
AMCLSensorData
Definition: amcl_sensor.h:105
Driver
Base class for all drivers.
Definition: driver.h:108
AMCLFiducial
Definition: amcl_fiducial.h:61
pf_vector_t
Definition: pf_vector.h:41

Last updated 12 September 2005 21:38:45