<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; 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you can redistribute it and/or modify</span> <a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span> <a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span> <a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span> <a name="l00011"></a>00011 <span class="comment"> *</span> <a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span> <a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span> <a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span> <a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span> <a name="l00016"></a>00016 <span class="comment"> *</span> <a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span> <a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span> <a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> <a name="l00020"></a>00020 <span class="comment"> *</span> <a name="l00021"></a>00021 <span class="comment"> */</span> <a name="l00022"></a>00022 <a name="l00023"></a>00023 <a name="l00024"></a>00024 <span class="comment">/**************************************************************************</span> <a name="l00025"></a>00025 <span class="comment"> * Desc: Sensor models for the laser sensor.</span> <a name="l00026"></a>00026 <span class="comment"> * Author: Andrew Howard</span> <a name="l00027"></a>00027 <span class="comment"> * Date: 15 Dec 2002</span> <a name="l00028"></a>00028 <span class="comment"> * CVS: $Id: laser.h 8108 2009-07-23 23:03:37Z thjc $</span> <a name="l00029"></a>00029 <span class="comment"> *************************************************************************/</span> <a name="l00030"></a>00030 <a name="l00031"></a>00031 <span class="preprocessor">#ifndef LASER_H</span> <a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define LASER_H</span> <a name="l00033"></a>00033 <span class="preprocessor"></span> <a name="l00034"></a>00034 <span class="preprocessor">#include "../pf/pf.h"</span> <a name="l00035"></a>00035 <span class="preprocessor">#include "../map/map.h"</span> <a name="l00036"></a>00036 <a name="l00037"></a>00037 <span class="preprocessor">#ifdef __cplusplus</span> <a name="l00038"></a>00038 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> { <a name="l00039"></a>00039 <span class="preprocessor">#endif</span> <a name="l00040"></a>00040 <span class="preprocessor"></span> <a name="l00041"></a>00041 <a name="l00042"></a>00042 <span class="comment">// Info for a single range measurement</span> <a name="l00043"></a><a class="code" href="structlaser__range__t.html">00043</a> <span class="keyword">typedef</span> <span class="keyword">struct</span> <a name="l00044"></a>00044 { <a name="l00045"></a>00045 <span class="keywordtype">double</span> range, bearing; <a name="l00046"></a>00046 <a name="l00047"></a>00047 } <a class="code" href="structlaser__range__t.html">laser_range_t</a>; <a name="l00048"></a>00048 <a name="l00049"></a>00049 <a name="l00050"></a>00050 <span class="comment">// Model information</span> <a name="l00051"></a><a class="code" href="structlaser__t.html">00051</a> <span class="keyword">typedef</span> <span class="keyword">struct</span> <a name="l00052"></a>00052 { <a name="l00053"></a>00053 <span class="comment">// Pointer to the map</span> <a name="l00054"></a>00054 <a class="code" href="structmap__t.html">map_t</a> *map; <a name="l00055"></a>00055 <a name="l00056"></a>00056 <span class="comment">// Laser pose relative to robot</span> <a name="l00057"></a>00057 <a class="code" href="structpf__vector__t.html">pf_vector_t</a> laser_pose; <a name="l00058"></a>00058 <a name="l00059"></a>00059 <span class="comment">// Covariance in the range reading</span> <a name="l00060"></a>00060 <span class="keywordtype">double</span> range_cov; <a name="l00061"></a>00061 <a name="l00062"></a>00062 <span class="comment">// Probability of spurious range readings</span> <a name="l00063"></a>00063 <span class="keywordtype">double</span> range_bad; <a name="l00064"></a>00064 <a name="l00065"></a>00065 <span class="comment">// Pre-computed laser sensor model</span> <a name="l00066"></a>00066 <span class="keywordtype">int</span> lut_size; <a name="l00067"></a>00067 <span class="keywordtype">double</span> lut_res; <a name="l00068"></a>00068 <span class="keywordtype">double</span> *lut_probs; <a name="l00069"></a>00069 <a name="l00070"></a>00070 <span class="comment">// Laser (range, bearing) values</span> <a name="l00071"></a>00071 <span class="keywordtype">int</span> range_count; <a name="l00072"></a>00072 <a class="code" href="structlaser__range__t.html">laser_range_t</a> *ranges; <a name="l00073"></a>00073 <a name="l00074"></a>00074 } <a class="code" href="structlaser__t.html">laser_t</a>; <a name="l00075"></a>00075 <a name="l00076"></a>00076 <a name="l00077"></a>00077 <span class="comment">// Create an sensor model</span> <a name="l00078"></a>00078 <a class="code" href="structlaser__t.html">laser_t</a> *laser_alloc(<a class="code" href="structmap__t.html">map_t</a> *map); <a name="l00079"></a>00079 <a name="l00080"></a>00080 <span class="comment">// Free an sensor model</span> <a name="l00081"></a>00081 <span class="keywordtype">void</span> laser_free(<a class="code" href="structlaser__t.html">laser_t</a> *sensor); <a name="l00082"></a>00082 <a name="l00083"></a>00083 <span class="comment">// Clear all existing range readings</span> <a name="l00084"></a>00084 <span class="keywordtype">void</span> laser_clear_ranges(<a class="code" href="structlaser__t.html">laser_t</a> *sensor); <a name="l00085"></a>00085 <a name="l00086"></a>00086 <span class="comment">// Set the laser range readings that will be used.</span> <a name="l00087"></a>00087 <span class="keywordtype">void</span> laser_add_range(<a class="code" href="structlaser__t.html">laser_t</a> *sensor, <span class="keywordtype">double</span> range, <span class="keywordtype">double</span> bearing); <a name="l00088"></a>00088 <a name="l00089"></a>00089 <span class="comment">// The sensor model function</span> <a name="l00090"></a>00090 <span class="keywordtype">double</span> laser_sensor_model(<a class="code" href="structlaser__t.html">laser_t</a> *sensor, <a class="code" href="structpf__vector__t.html">pf_vector_t</a> pose); <a name="l00091"></a>00091 <a name="l00092"></a>00092 <a name="l00093"></a>00093 <span class="preprocessor">#ifdef __cplusplus</span> <a name="l00094"></a>00094 <span class="preprocessor"></span>} <a name="l00095"></a>00095 <span class="preprocessor">#endif</span> <a name="l00096"></a>00096 <span class="preprocessor"></span> <a name="l00097"></a>00097 <span class="preprocessor">#endif</span> <a name="l00098"></a>00098 <span class="preprocessor"></span> </pre></div></div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>