lasermodel.h
/***************************************************************************
* Copyright (C) 2005 by Tarek Taha *
* tataha@eng.uts.edu.au *
* *
* 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. *
***************************************************************************/
#ifndef LASERMODEL_H_
#define LASERMODEL_H_
// Info for a single range measurement
typedef struct
{
double range, bearing;
} laser_range_t;
class LaserModel
{
private:
mapgrid * * map; // Pointer to the OG map
double range_cov; // Covariance in the range reading
double range_bad; // Probability of spurious range readings
// Pre-computed laser sensor model
int lut_size;
double lut_res;
double *lut_probs;
int range_count;
laser_range_t *ranges;
public :
void ClearRanges();
void AddRange(double,double);
void PreCompute();
double RangeProb(double,double);
double PoseProb();
LaserModel();
~LaserModel();
LaserModel(mapgrid * * );
};
#endif /*LASERMODEL_H_*/
mapgrid
Definition: mixed/mricp/include/map.h:35
laser_range_t
Definition: laser.h:43
LaserModel
Definition: lasermodel.h:29

Last updated 12 September 2005 21:38:45