amcl_sensor.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: Adaptive Monte-Carlo localization
// Author: Andrew Howard
// Date: 6 Feb 2003
// CVS: $Id: amcl_sensor.h 6443 2008-05-15 19:46:11Z gerkey $
//
#ifndef AMCL_SENSOR_H
#define AMCL_SENSOR_H
#include "amcl.h"
#include <libplayercore/playercore.h>
#include "pf/pf.h"
// Forward declarations
class AMCLSensorData;
// Base class for all AMCL sensors
class AMCLSensor
{
// Default constructor
public: AMCLSensor(AdaptiveMCL & aAMCL);
// Default destructor
public: virtual ~AMCLSensor();
// 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);
// Process message for this interface
public: virtual int ProcessMessage(QueuePointer &resp_queue,
player_msghdr * hdr,
void * data) = 0;
// public: virtual AMCLSensorData *GetData(void);
// Update the filter based on the action model. Returns true if the filter
// has been updated.
public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data);
// Initialize the filter based on the sensor model. Returns true if the
// filter has been initialized.
public: virtual bool InitSensor(pf_t *pf, AMCLSensorData *data);
// 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);
// Flag is true if this is the action sensor
public: bool is_action;
// Action pose (action sensors only)
public: pf_vector_t pose;
// AMCL Base
protected: AdaptiveMCL & AMCL;
#ifdef INCLUDE_RTKGUI
// Setup the GUI
public: virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
// Finalize the GUI
public: 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);
#endif
};
// Base class for all AMCL sensor measurements
class AMCLSensorData
{
// Pointer to sensor that generated the data
public: AMCLSensor *sensor;
virtual ~AMCLSensorData() {}
// Data timestamp
public: double time;
};
#endif
ConfigFile
Class for loading configuration file information.
Definition: configfile.h:196
player_msghdr
Generic message header.
Definition: player.h:157
_pf_t
Definition: pf.h:110
AMCLSensor
Definition: amcl_sensor.h:43
QueuePointer
An autopointer for the message queue.
Definition: message.h:73
AMCLSensorData
Definition: amcl_sensor.h:105
AdaptiveMCL
Definition: amcl.h:70
pf_vector_t
Definition: pf_vector.h:41

Last updated 12 September 2005 21:38:45