<!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="l00007"></a>00007 <span class="comment"> * it under the terms of the GNU General Public License as published by</span> <a name="l00008"></a>00008 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span> <a name="l00009"></a>00009 <span class="comment"> * (at your option) any later version.</span> <a name="l00010"></a>00010 <span class="comment"> *</span> <a name="l00011"></a>00011 <span class="comment"> * This program is distributed in the hope that it will be useful,</span> <a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span> <a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span> <a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span> <a name="l00015"></a>00015 <span class="comment"> *</span> <a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span> <a name="l00017"></a>00017 <span class="comment"> * along with this program; if not, write to the Free Software</span> <a name="l00018"></a>00018 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> <a name="l00019"></a>00019 <span class="comment"> *</span> <a name="l00020"></a>00020 <span class="comment"> */</span> <a name="l00022"></a>00022 <span class="comment">//</span> <a name="l00023"></a>00023 <span class="comment">// Desc: Adaptive Monte-Carlo localization</span> <a name="l00024"></a>00024 <span class="comment">// Author: Andrew Howard</span> <a name="l00025"></a>00025 <span class="comment">// Date: 6 Feb 2003</span> <a name="l00026"></a>00026 <span class="comment">// CVS: $Id: amcl.h 7208 2008-12-19 02:10:56Z gbiggs $</span> <a name="l00027"></a>00027 <span class="comment">//</span> <a name="l00028"></a>00028 <span class="comment">// Theory of operation:</span> <a name="l00029"></a>00029 <span class="comment">// TODO</span> <a name="l00030"></a>00030 <span class="comment">//</span> <a name="l00031"></a>00031 <span class="comment">// Requires: position (odometry), laser, sonar, gps</span> <a name="l00032"></a>00032 <span class="comment">// Provides: localization</span> <a name="l00033"></a>00033 <span class="comment">//</span> <a name="l00035"></a>00035 <span class="comment"></span> <a name="l00036"></a>00036 <span class="preprocessor">#ifndef AMCL_H</span> <a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#define AMCL_H</span> <a name="l00038"></a>00038 <span class="preprocessor"></span> <a name="l00039"></a>00039 <span class="preprocessor">#include <pthread.h></span> <a name="l00040"></a>00040 <a name="l00041"></a>00041 <span class="preprocessor">#include <playerconfig.h></span> <a name="l00042"></a>00042 <span class="preprocessor">#ifdef INCLUDE_RTKGUI</span> <a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">#include "rtk.h"</span> <a name="l00044"></a>00044 <span class="preprocessor">#endif</span> <a name="l00045"></a>00045 <span class="preprocessor"></span> <a name="l00046"></a>00046 <span class="preprocessor">#include <libplayercore/playercore.h></span> <a name="l00047"></a>00047 <a name="l00048"></a>00048 <span class="preprocessor">#include "pf/pf.h"</span> <a name="l00049"></a>00049 <span class="comment">//#include "amcl_sensor.h"</span> <a name="l00050"></a>00050 <span class="keyword">class </span><a class="code" href="classAMCLSensor.html">AMCLSensor</a>; <a name="l00051"></a>00051 <span class="keyword">class </span><a class="code" href="classAMCLSensorData.html">AMCLSensorData</a>; <a name="l00052"></a>00052 <a name="l00053"></a>00053 <span class="comment">// Pose hypothesis</span> <a name="l00054"></a><a class="code" href="structamcl__hyp__t.html">00054</a> <span class="keyword">typedef</span> <span class="keyword">struct</span> <a name="l00055"></a>00055 { <a name="l00056"></a>00056 <span class="comment">// Total weight (weights sum to 1)</span> <a name="l00057"></a>00057 <span class="keywordtype">double</span> weight; <a name="l00058"></a>00058 <a name="l00059"></a>00059 <span class="comment">// Mean of pose esimate</span> <a name="l00060"></a>00060 <a class="code" href="structpf__vector__t.html">pf_vector_t</a> pf_pose_mean; <a name="l00061"></a>00061 <a name="l00062"></a>00062 <span class="comment">// Covariance of pose estimate</span> <a name="l00063"></a>00063 <a class="code" href="structpf__matrix__t.html">pf_matrix_t</a> pf_pose_cov; <a name="l00064"></a>00064 <a name="l00065"></a>00065 } <a class="code" href="structamcl__hyp__t.html">amcl_hyp_t</a>; <a name="l00066"></a>00066 <a name="l00067"></a>00067 <a name="l00068"></a>00068 <a name="l00069"></a>00069 <span class="comment">// Incremental navigation driver</span> <a name="l00070"></a><a class="code" href="classAdaptiveMCL.html">00070</a> <span class="keyword">class </span><a class="code" href="classAdaptiveMCL.html">AdaptiveMCL</a> : <span class="keyword">public</span> <a class="code" href="classThreadedDriver.html" title="Base class for drivers which oeprate with a thread.">ThreadedDriver</a> <a name="l00071"></a>00071 { <a name="l00073"></a>00073 <span class="comment">// Top half methods; these methods run in the server thread (except for</span> <a name="l00074"></a>00074 <span class="comment">// the sensor Init and Update functions, which run in the driver thread).</span> <a name="l00076"></a>00076 <span class="comment"></span> <a name="l00077"></a>00077 <span class="comment">// Constructor</span> <a name="l00078"></a>00078 <span class="keyword">public</span>: <a class="code" href="classAdaptiveMCL.html">AdaptiveMCL</a>(<a class="code" href="classConfigFile.html" title="Class for loading configuration file information.">ConfigFile</a>* cf, <span class="keywordtype">int</span> section); <a name="l00079"></a>00079 <a name="l00080"></a>00080 <span class="comment">// Destructor</span> <a name="l00081"></a>00081 <span class="keyword">public</span>: <span class="keyword">virtual</span> ~<a class="code" href="classAdaptiveMCL.html">AdaptiveMCL</a>(<span class="keywordtype">void</span>); <a name="l00082"></a>00082 <a name="l00083"></a>00083 <span class="comment">// Setup/shutdown routines.</span> <a name="l00084"></a>00084 <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classAdaptiveMCL.html#a707e47ff968aa2e91354f2602ac9bfde" title="Sets up the resources needed by the driver thread.">MainSetup</a>(<span class="keywordtype">void</span>); <a name="l00085"></a>00085 <a name="l00087"></a>00087 <span class="comment">// Middle methods: these methods facilitate communication between the top</span> <a name="l00088"></a>00088 <span class="comment">// and bottom halfs.</span> <a name="l00090"></a>00090 <span class="comment"></span> <a name="l00092"></a>00092 <span class="comment">// Bottom half methods; these methods run in the device thread</span> <a name="l00094"></a>00094 <span class="comment"></span> <a name="l00095"></a>00095 <span class="comment">// Push data onto the queue</span> <a name="l00096"></a>00096 <span class="keyword">public</span>: <span class="keywordtype">void</span> Push(<a class="code" href="classAMCLSensorData.html">AMCLSensorData</a> *data); <a name="l00097"></a>00097 <a name="l00098"></a>00098 <span class="comment">// Take a peek at the queue</span> <a name="l00099"></a>00099 <span class="keyword">private</span>: <a class="code" href="classAMCLSensorData.html">AMCLSensorData</a> *Peek(<span class="keywordtype">void</span>); <a name="l00100"></a>00100 <a name="l00101"></a>00101 <span class="comment">// Pop data from the queue</span> <a name="l00102"></a>00102 <span class="keyword">private</span>: <a class="code" href="classAMCLSensorData.html">AMCLSensorData</a> *Pop(<span class="keywordtype">void</span>); <a name="l00103"></a>00103 <a name="l00104"></a>00104 <span class="comment">// MessageHandler</span> <a name="l00105"></a>00105 <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classAdaptiveMCL.html#a97cf8c8a874e314c852c73d9ee967df6" title="Message handler.">ProcessMessage</a>(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue, <a name="l00106"></a>00106 <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <a name="l00107"></a>00107 <span class="keywordtype">void</span> * data); <a name="l00108"></a>00108 <a name="l00109"></a>00109 <span class="comment">// Check for updated sensor data</span> <a name="l00110"></a>00110 <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">void</span> UpdateSensorData(<span class="keywordtype">void</span>); <a name="l00111"></a>00111 <a name="l00112"></a>00112 <span class="comment">// Main function for device thread.</span> <a name="l00113"></a>00113 <span class="keyword">private</span>: <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAdaptiveMCL.html#a3d8ba8af1478245e860bc5e16f0ebb10" title="Main method for driver thread.">Main</a>(<span class="keywordtype">void</span>); <a name="l00114"></a>00114 <a name="l00115"></a>00115 <span class="comment">// Device thread finalization</span> <a name="l00116"></a>00116 <span class="keyword">private</span>: <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAdaptiveMCL.html#a8821574e1677052e8a2c0fe746884200" title="Cleanup method for driver thread (called when main exits).">MainQuit</a>(); <a name="l00117"></a>00117 <a name="l00118"></a>00118 <span class="comment">// Initialize the filter</span> <a name="l00119"></a>00119 <span class="keyword">private</span>: <span class="keywordtype">void</span> InitFilter(<span class="keywordtype">void</span>); <a name="l00120"></a>00120 <a name="l00121"></a>00121 <span class="comment">// Update/initialize the filter with new sensor data</span> <a name="l00122"></a>00122 <span class="keyword">private</span>: <span class="keywordtype">bool</span> UpdateFilter(); <a name="l00123"></a>00123 <a name="l00124"></a>00124 <span class="comment">// Put new localization data</span> <a name="l00125"></a>00125 <span class="keyword">private</span>: <span class="keywordtype">void</span> PutDataLocalize(<span class="keywordtype">double</span> time); <a name="l00126"></a>00126 <a name="l00127"></a>00127 <span class="comment">// Put new position data</span> <a name="l00128"></a>00128 <span class="keyword">private</span>: <span class="keywordtype">void</span> PutDataPosition(<a class="code" href="structpf__vector__t.html">pf_vector_t</a> delta, <span class="keywordtype">double</span> time); <a name="l00129"></a>00129 <a name="l00130"></a>00130 <span class="comment">// Send back geometry data</span> <a name="l00131"></a>00131 <span class="keyword">private</span>: <span class="keywordtype">void</span> ProcessGeom(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue, <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr_t</a>* hdr); <a name="l00132"></a>00132 <a name="l00133"></a>00133 <span class="preprocessor">#ifdef INCLUDE_RTKGUI</span> <a name="l00134"></a>00134 <span class="preprocessor"></span> <span class="comment">// Set up the GUI</span> <a name="l00135"></a>00135 <span class="keyword">private</span>: <span class="keywordtype">int</span> SetupGUI(<span class="keywordtype">void</span>); <a name="l00136"></a>00136 <a name="l00137"></a>00137 <span class="comment">// Shut down the GUI</span> <a name="l00138"></a>00138 <span class="keyword">private</span>: <span class="keywordtype">int</span> ShutdownGUI(<span class="keywordtype">void</span>); <a name="l00139"></a>00139 <a name="l00140"></a>00140 <span class="comment">// Update the GUI</span> <a name="l00141"></a>00141 <span class="keyword">private</span>: <span class="keywordtype">void</span> UpdateGUI(<span class="keywordtype">void</span>); <a name="l00142"></a>00142 <a name="l00143"></a>00143 <span class="comment">// Draw the current best pose estimate</span> <a name="l00144"></a>00144 <span class="keyword">private</span>: <span class="keywordtype">void</span> DrawPoseEst(); <a name="l00145"></a>00145 <span class="preprocessor">#endif</span> <a name="l00146"></a>00146 <span class="preprocessor"></span> <a name="l00148"></a>00148 <span class="comment">// Properties</span> <a name="l00150"></a>00150 <span class="comment"></span> <a name="l00151"></a>00151 <span class="comment">// interfaces we might be using</span> <a name="l00152"></a>00152 <span class="keyword">private</span>: <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> position_addr; <a name="l00153"></a>00153 <span class="keyword">private</span>: <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> localize_addr; <a name="l00154"></a>00154 <a name="l00155"></a>00155 <span class="comment">// List of all sensors</span> <a name="l00156"></a>00156 <span class="keyword">private</span>: <span class="keywordtype">int</span> sensor_count; <a name="l00157"></a>00157 <span class="keyword">private</span>: <a class="code" href="classAMCLSensor.html">AMCLSensor</a> *sensors[16]; <a name="l00158"></a>00158 <a name="l00159"></a>00159 <span class="comment">// Index of sensor providing initialization model</span> <a name="l00160"></a>00160 <span class="keyword">private</span>: <span class="keywordtype">int</span> init_sensor; <a name="l00161"></a>00161 <a name="l00162"></a>00162 <span class="comment">// Index of sensor providing action model</span> <a name="l00163"></a>00163 <span class="keyword">private</span>: <span class="keywordtype">int</span> action_sensor; <a name="l00164"></a>00164 <a name="l00165"></a>00165 <span class="comment">// Particle filter</span> <a name="l00166"></a>00166 <span class="keyword">private</span>: <a class="code" href="struct__pf__t.html">pf_t</a> *pf; <a name="l00167"></a>00167 <span class="keyword">private</span>: <span class="keywordtype">int</span> pf_min_samples, pf_max_samples; <a name="l00168"></a>00168 <span class="keyword">private</span>: <span class="keywordtype">double</span> pf_err, pf_z; <a name="l00169"></a>00169 <a name="l00170"></a>00170 <span class="comment">// Sensor data queue</span> <a name="l00171"></a>00171 <span class="keyword">private</span>: <span class="keywordtype">int</span> q_size, q_start, q_len; <a name="l00172"></a>00172 <span class="keyword">private</span>: <a class="code" href="classAMCLSensorData.html">AMCLSensorData</a> **q_data; <a name="l00173"></a>00173 <a name="l00174"></a>00174 <span class="comment">// Current particle filter pose estimates</span> <a name="l00175"></a>00175 <span class="keyword">private</span>: <span class="keywordtype">int</span> hyp_count; <a name="l00176"></a>00176 <span class="keyword">private</span>: <span class="keywordtype">int</span> hyp_alloc; <a name="l00177"></a>00177 <span class="keyword">private</span>: <a class="code" href="structamcl__hyp__t.html">amcl_hyp_t</a> *hyps; <a name="l00178"></a>00178 <span class="keyword">private</span>: <a class="code" href="structpf__vector__t.html">pf_vector_t</a> best_hyp; <a name="l00179"></a>00179 <span class="keyword">private</span>: pthread_mutex_t best_hyp_lock; <a name="l00180"></a>00180 <a name="l00181"></a>00181 <span class="comment">// Has the filter been initialized?</span> <a name="l00182"></a>00182 <span class="keyword">private</span>: <span class="keywordtype">bool</span> pf_init; <a name="l00183"></a>00183 <span class="keyword">private</span>: <span class="keywordtype">bool</span> pf_init_internal; <a name="l00184"></a>00184 <a name="l00185"></a>00185 <span class="comment">// Initial pose estimate; used for filter initialization</span> <a name="l00186"></a>00186 <span class="keyword">private</span>: <a class="code" href="structpf__vector__t.html">pf_vector_t</a> pf_init_pose_mean; <a name="l00187"></a>00187 <span class="keyword">private</span>: <a class="code" href="structpf__matrix__t.html">pf_matrix_t</a> pf_init_pose_cov; <a name="l00188"></a>00188 <a name="l00189"></a>00189 <span class="comment">// Last odometric pose value used to update filter</span> <a name="l00190"></a>00190 <span class="keyword">private</span>: <a class="code" href="structpf__vector__t.html">pf_vector_t</a> pf_odom_pose; <a name="l00191"></a>00191 <a name="l00192"></a>00192 <span class="comment">// Minimum update distances</span> <a name="l00193"></a>00193 <span class="keyword">private</span>: <span class="keywordtype">double</span> min_dr, min_da; <a name="l00194"></a>00194 <a name="l00195"></a>00195 <span class="preprocessor">#ifdef INCLUDE_RTKGUI</span> <a name="l00196"></a>00196 <span class="preprocessor"></span> <span class="comment">// RTK stuff; for testing only</span> <a name="l00197"></a>00197 <span class="keyword">private</span>: <span class="keywordtype">int</span> enable_gui; <a name="l00198"></a>00198 <span class="keyword">private</span>: rtk_app_t *app; <a name="l00199"></a>00199 <span class="keyword">private</span>: rtk_canvas_t *canvas; <a name="l00200"></a>00200 <span class="keyword">private</span>: rtk_fig_t *map_fig; <a name="l00201"></a>00201 <span class="keyword">private</span>: rtk_fig_t *pf_fig; <a name="l00202"></a>00202 <span class="keyword">private</span>: rtk_fig_t *robot_fig; <a name="l00203"></a>00203 <span class="preprocessor">#endif</span> <a name="l00204"></a>00204 <span class="preprocessor"></span> <a name="l00205"></a>00205 <span class="preprocessor">#ifdef INCLUDE_OUTFILE</span> <a name="l00206"></a>00206 <span class="preprocessor"></span> <span class="keyword">private</span>: FILE *outfile; <a name="l00207"></a>00207 <span class="preprocessor">#endif</span> <a name="l00208"></a>00208 <span class="preprocessor"></span>}; <a name="l00209"></a>00209 <a name="l00210"></a>00210 <span class="preprocessor">#endif</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>