<!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="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: LASER 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_laser.h 6443 2008-05-15 19:46:11Z 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_LASER_H</span> <a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define AMCL_LASER_H</span> <a name="l00031"></a>00031 <span class="preprocessor"></span> <a name="l00032"></a>00032 <span class="preprocessor">#include "amcl_sensor.h"</span> <a name="l00033"></a>00033 <span class="preprocessor">#include "map/map.h"</span> <a name="l00034"></a>00034 <span class="preprocessor">#include "models/laser.h"</span> <a name="l00035"></a>00035 <a name="l00036"></a>00036 <span class="comment">// Laser sensor data</span> <a name="l00037"></a><a class="code" href="classAMCLLaserData.html">00037</a> <span class="keyword">class </span><a class="code" href="classAMCLLaserData.html">AMCLLaserData</a> : <span class="keyword">public</span> <a class="code" href="classAMCLSensorData.html">AMCLSensorData</a> <a name="l00038"></a>00038 { <a name="l00039"></a>00039 <span class="keyword">public</span>: <a name="l00040"></a>00040 <a class="code" href="classAMCLLaserData.html">AMCLLaserData</a> () {ranges=NULL;}; <a name="l00041"></a>00041 <span class="keyword">virtual</span> ~<a class="code" href="classAMCLLaserData.html">AMCLLaserData</a>() {<span class="keyword">delete</span> [] ranges;}; <a name="l00042"></a>00042 <span class="comment">// Laser range data (range, bearing tuples)</span> <a name="l00043"></a>00043 <span class="keyword">public</span>: <span class="keywordtype">int</span> range_count; <a name="l00044"></a>00044 <span class="keyword">public</span>: <span class="keywordtype">double</span> range_max; <a name="l00045"></a>00045 <span class="keyword">public</span>: double (*ranges)[2]; <a name="l00046"></a>00046 }; <a name="l00047"></a>00047 <a name="l00048"></a>00048 <a name="l00049"></a>00049 <span class="comment">// Laseretric sensor model</span> <a name="l00050"></a><a class="code" href="classAMCLLaser.html">00050</a> <span class="keyword">class </span><a class="code" href="classAMCLLaser.html">AMCLLaser</a> : <span class="keyword">public</span> <a class="code" href="classAMCLSensor.html">AMCLSensor</a> <a name="l00051"></a>00051 { <a name="l00052"></a>00052 <span class="comment">// Default constructor</span> <a name="l00053"></a>00053 <span class="keyword">public</span>: <a class="code" href="classAMCLLaser.html">AMCLLaser</a>(<a class="code" href="classAdaptiveMCL.html">AdaptiveMCL</a> & aAMCL, <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> addr); <a name="l00054"></a>00054 <a name="l00055"></a>00055 <span class="comment">// Load the model</span> <a name="l00056"></a>00056 <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="l00057"></a>00057 <a name="l00058"></a>00058 <span class="comment">// Unload the model</span> <a name="l00059"></a>00059 <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> Unload(<span class="keywordtype">void</span>); <a name="l00060"></a>00060 <a name="l00061"></a>00061 <span class="comment">// Initialize the model</span> <a name="l00062"></a>00062 <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> Setup(<span class="keywordtype">void</span>); <a name="l00063"></a>00063 <a name="l00064"></a>00064 <span class="comment">// Finalize the model</span> <a name="l00065"></a>00065 <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> Shutdown(<span class="keywordtype">void</span>); <a name="l00066"></a>00066 <a name="l00067"></a>00067 <span class="comment">// Process message for this interface</span> <a name="l00068"></a>00068 <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> ProcessMessage(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue, <a name="l00069"></a>00069 <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <a name="l00070"></a>00070 <span class="keywordtype">void</span> * data); <a name="l00071"></a>00071 <span class="comment">// Check for new sensor measurements</span> <a name="l00072"></a>00072 <span class="comment">//private: virtual AMCLSensorData *GetData(void);</span> <a name="l00073"></a>00073 <a name="l00074"></a>00074 <span class="comment">// Update the filter based on the sensor model. Returns true if the</span> <a name="l00075"></a>00075 <span class="comment">// filter has been updated.</span> <a name="l00076"></a>00076 <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 class="code" href="classAMCLSensorData.html">AMCLSensorData</a> *data); <a name="l00077"></a>00077 <a name="l00078"></a>00078 <span class="comment">// Determine the probability for the given pose</span> <a name="l00079"></a>00079 <span class="keyword">private</span>: <span class="keyword">static</span> <span class="keywordtype">double</span> SensorModel(<a class="code" href="classAMCLLaserData.html">AMCLLaserData</a> *data, <a name="l00080"></a>00080 <a class="code" href="struct__pf__sample__set__t.html">pf_sample_set_t</a>* <span class="keyword">set</span>); <a name="l00081"></a>00081 <a name="l00082"></a>00082 <span class="comment">// retrieve the map</span> <a name="l00083"></a>00083 <span class="keyword">private</span>: <span class="keywordtype">int</span> SetupMap(<span class="keywordtype">void</span>); <a name="l00084"></a>00084 <a name="l00085"></a>00085 <span class="comment">// Device info</span> <a name="l00086"></a>00086 <span class="keyword">private</span>: <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> laser_addr; <a name="l00087"></a>00087 <span class="keyword">private</span>: <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> map_addr; <a name="l00088"></a>00088 <span class="keyword">private</span>: <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a> *laser_dev; <a name="l00089"></a>00089 <a name="l00090"></a>00090 <span class="comment">// Current data timestamp</span> <a name="l00091"></a>00091 <span class="keyword">private</span>: <span class="keywordtype">double</span> time; <a name="l00092"></a>00092 <a name="l00093"></a>00093 <span class="comment">// The laser map</span> <a name="l00094"></a>00094 <span class="keyword">private</span>: <a class="code" href="structmap__t.html">map_t</a> *map; <a name="l00095"></a>00095 <a name="l00096"></a>00096 <span class="comment">// Laser offset relative to robot</span> <a name="l00097"></a>00097 <span class="keyword">private</span>: <a class="code" href="structpf__vector__t.html">pf_vector_t</a> laser_pose; <a name="l00098"></a>00098 <a name="l00099"></a>00099 <span class="comment">// Max beams to consider</span> <a name="l00100"></a>00100 <span class="keyword">private</span>: <span class="keywordtype">int</span> max_beams; <a name="l00101"></a>00101 <a name="l00102"></a>00102 <span class="comment">// Laser range variance</span> <a name="l00103"></a>00103 <span class="keyword">private</span>: <span class="keywordtype">double</span> range_var; <a name="l00104"></a>00104 <a name="l00105"></a>00105 <span class="comment">// Probability of bad range readings</span> <a name="l00106"></a>00106 <span class="keyword">private</span>: <span class="keywordtype">double</span> range_bad; <a name="l00107"></a>00107 <a name="l00108"></a>00108 <span class="preprocessor">#ifdef INCLUDE_RTKGUI</span> <a name="l00109"></a>00109 <span class="preprocessor"></span> <span class="comment">// Setup the GUI</span> <a name="l00110"></a>00110 <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="l00111"></a>00111 <a name="l00112"></a>00112 <span class="comment">// Finalize the GUI</span> <a name="l00113"></a>00113 <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="l00114"></a>00114 <a name="l00115"></a>00115 <span class="comment">// Draw sensor data</span> <a name="l00116"></a>00116 <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">void</span> UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, <a class="code" href="classAMCLSensorData.html">AMCLSensorData</a> *data); <a name="l00117"></a>00117 <a name="l00118"></a>00118 <span class="comment">// Figures</span> <a name="l00119"></a>00119 <span class="keyword">private</span>: rtk_fig_t *fig, *map_fig; <a name="l00120"></a>00120 <span class="preprocessor">#endif</span> <a name="l00121"></a>00121 <span class="preprocessor"></span>}; <a name="l00122"></a>00122 <a name="l00123"></a>00123 <a name="l00124"></a>00124 <a name="l00125"></a>00125 <a name="l00126"></a>00126 <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>