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player-doc-3.0.2-5.fc14.noarch.rpm

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<h1>amcl_gps.h</h1>  </div>
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<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> *  Player - One Hell of a Robot Server</span>
<a name="l00003"></a>00003 <span class="comment"> *  Copyright (C) 2000  Brian Gerkey et al.</span>
<a name="l00004"></a>00004 <span class="comment"> *</span>
<a name="l00005"></a>00005 <span class="comment"> *  This program is free software; you can redistribute it and/or modify</span>
<a name="l00006"></a>00006 <span class="comment"> *  it under the terms of the GNU General Public License as published by</span>
<a name="l00007"></a>00007 <span class="comment"> *  the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00008"></a>00008 <span class="comment"> *  (at your option) any later version.</span>
<a name="l00009"></a>00009 <span class="comment"> *</span>
<a name="l00010"></a>00010 <span class="comment"> *  This program is distributed in the hope that it will be useful,</span>
<a name="l00011"></a>00011 <span class="comment"> *  but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00012"></a>00012 <span class="comment"> *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00013"></a>00013 <span class="comment"> *  GNU General Public License for more details.</span>
<a name="l00014"></a>00014 <span class="comment"> *</span>
<a name="l00015"></a>00015 <span class="comment"> *  You should have received a copy of the GNU General Public License</span>
<a name="l00016"></a>00016 <span class="comment"> *  along with this program; if not, write to the Free Software</span>
<a name="l00017"></a>00017 <span class="comment"> *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00021"></a>00021 <span class="comment">//</span>
<a name="l00022"></a>00022 <span class="comment">// Desc: GPS sensor model for AMCL</span>
<a name="l00023"></a>00023 <span class="comment">// Author: Andrew Howard</span>
<a name="l00024"></a>00024 <span class="comment">// Date: 17 Aug 2003</span>
<a name="l00025"></a>00025 <span class="comment">// CVS: $Id: amcl_gps.h 2394 2004-09-07 00:20:48Z gerkey $</span>
<a name="l00026"></a>00026 <span class="comment">//</span>
<a name="l00028"></a>00028 <span class="comment"></span>
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef AMCL_GPS_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define AMCL_GPS_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include &quot;amcl_sensor.h&quot;</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include &quot;models/gps.h&quot;</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="comment">// Gpsetric sensor model</span>
<a name="l00036"></a><a class="code" href="classAMCLGps.html">00036</a> <span class="keyword">class </span><a class="code" href="classAMCLGps.html">AMCLGps</a> : <span class="keyword">public</span> <a class="code" href="classAMCLSensor.html">AMCLSensor</a>
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038   <span class="comment">// Default constructor</span>
<a name="l00039"></a>00039   <span class="keyword">public</span>: <a class="code" href="classAMCLGps.html">AMCLGps</a>();
<a name="l00040"></a>00040   
<a name="l00041"></a>00041   <span class="comment">// Load the model</span>
<a name="l00042"></a>00042   <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> Load(<a class="code" href="classConfigFile.html" title="Class for loading configuration file information.">ConfigFile</a>* cf, <span class="keywordtype">int</span> section);
<a name="l00043"></a>00043 
<a name="l00044"></a>00044   <span class="comment">// Unload the model</span>
<a name="l00045"></a>00045   <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> Unload(<span class="keywordtype">void</span>);
<a name="l00046"></a>00046 
<a name="l00047"></a>00047   <span class="comment">// Initialize the model</span>
<a name="l00048"></a>00048   <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> Setup(<span class="keywordtype">void</span>);
<a name="l00049"></a>00049 
<a name="l00050"></a>00050   <span class="comment">// Finalize the model</span>
<a name="l00051"></a>00051   <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> Shutdown(<span class="keywordtype">void</span>);
<a name="l00052"></a>00052 
<a name="l00053"></a>00053   <span class="comment">// Check for new sensor measurements</span>
<a name="l00054"></a>00054   <span class="keyword">private</span>: <span class="keyword">virtual</span> <span class="keywordtype">bool</span> GetData(<span class="keywordtype">void</span>);
<a name="l00055"></a>00055 
<a name="l00056"></a>00056   <span class="comment">// Initialize the filter based on the sensor model.  Returns true if the</span>
<a name="l00057"></a>00057   <span class="comment">// filter has been initialized.</span>
<a name="l00058"></a>00058   <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">bool</span> InitSensor(<a class="code" href="struct__pf__t.html">pf_t</a> *pf, <a class="code" href="structpf__vector__t.html">pf_vector_t</a> mean, <a class="code" href="structpf__matrix__t.html">pf_matrix_t</a> cov);
<a name="l00059"></a>00059 
<a name="l00060"></a>00060   <span class="comment">// Update the filter based on the sensor model.  Returns true if the</span>
<a name="l00061"></a>00061   <span class="comment">// filter has been updated.</span>
<a name="l00062"></a>00062   <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">bool</span> UpdateSensor(<a class="code" href="struct__pf__t.html">pf_t</a> *pf);
<a name="l00063"></a>00063   
<a name="l00064"></a>00064   <span class="comment">// Device info</span>
<a name="l00065"></a>00065   <span class="keyword">private</span>: <span class="keywordtype">int</span> gps_index;
<a name="l00066"></a>00066   <span class="keyword">private</span>: <a class="code" href="classDriver.html" title="Base class for all drivers.">Driver</a> *device;
<a name="l00067"></a>00067 
<a name="l00068"></a>00068   <span class="comment">// Gpsetry sensor/action model</span>
<a name="l00069"></a>00069   <span class="keyword">private</span>: <a class="code" href="structgps__model__t.html">gps_model_t</a> *model;
<a name="l00070"></a>00070 
<a name="l00071"></a>00071   <span class="comment">// Current data timestamp</span>
<a name="l00072"></a>00072   <span class="keyword">private</span>: uint32_t tsec, tusec;
<a name="l00073"></a>00073 
<a name="l00074"></a>00074   <span class="comment">// Current GPS data</span>
<a name="l00075"></a>00075   <span class="keyword">private</span>: <span class="keywordtype">double</span> utm_e, utm_n;
<a name="l00076"></a>00076   <span class="keyword">private</span>: <span class="keywordtype">double</span> err_horz;
<a name="l00077"></a>00077 
<a name="l00078"></a>00078 <span class="preprocessor">#ifdef INCLUDE_RTKGUI</span>
<a name="l00079"></a>00079 <span class="preprocessor"></span>  <span class="comment">// Setup the GUI</span>
<a name="l00080"></a>00080   <span class="keyword">private</span>: <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
<a name="l00081"></a>00081 
<a name="l00082"></a>00082   <span class="comment">// Finalize the GUI</span>
<a name="l00083"></a>00083   <span class="keyword">private</span>: <span class="keyword">virtual</span> <span class="keywordtype">void</span> ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
<a name="l00084"></a>00084 
<a name="l00085"></a>00085   <span class="comment">// Draw sensor data</span>
<a name="l00086"></a>00086   <span class="keyword">private</span>: <span class="keyword">virtual</span> <span class="keywordtype">void</span> UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
<a name="l00087"></a>00087 
<a name="l00088"></a>00088   <span class="comment">// GPS figure</span>
<a name="l00089"></a>00089   <span class="keyword">private</span>: rtk_fig_t *fig;
<a name="l00090"></a>00090 <span class="preprocessor">#endif</span>
<a name="l00091"></a>00091 <span class="preprocessor"></span>};
<a name="l00092"></a>00092 
<a name="l00093"></a>00093 
<a name="l00094"></a>00094 
<a name="l00095"></a>00095 
<a name="l00096"></a>00096 <span class="preprocessor">#endif</span>
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Last updated 12 September 2005 21:38:45
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