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

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<!-- Generated by Doxygen 1.7.1 -->
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  <div class="headertitle">
<h1>localize<br/>
<small>
[<a class="el" href="group__interfaces.html">Interface specifications</a>]</small>
</h1>  </div>
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<div class="contents">

<p>Multi-hypothesis planar localization system.  
<a href="#_details">More...</a></p>
<table class="memberdecls">
<tr><td colspan="2"><p><a class="anchor" id="amgrpd41d8cd98f00b204e9800998ecf8427e"></a> </p>
<br/><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga3d2972160dcb523444fe04624e148f65"></a><!-- doxytag: member="interface_localize::PLAYER_LOCALIZE_DATA_HYPOTHS" ref="ga3d2972160dcb523444fe04624e148f65" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__localize.html#ga3d2972160dcb523444fe04624e148f65">PLAYER_LOCALIZE_DATA_HYPOTHS</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: pose hypotheses. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga7e27e4b1450ef87131c7b735b3837b81"></a><!-- doxytag: member="interface_localize::PLAYER_LOCALIZE_REQ_SET_POSE" ref="ga7e27e4b1450ef87131c7b735b3837b81" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__localize.html#ga7e27e4b1450ef87131c7b735b3837b81">PLAYER_LOCALIZE_REQ_SET_POSE</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: set pose hypothesis. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga6e9092e6661c814a5e0edf4d202f99b9"></a><!-- doxytag: member="interface_localize::PLAYER_LOCALIZE_REQ_GET_PARTICLES" ref="ga6e9092e6661c814a5e0edf4d202f99b9" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__localize.html#ga6e9092e6661c814a5e0edf4d202f99b9">PLAYER_LOCALIZE_REQ_GET_PARTICLES</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: get particle set. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__localize__hypoth.html">player_localize_hypoth</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__localize.html#ga84189990d2b832285ad27e20e1ec9086">player_localize_hypoth_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Hypothesis format.  <a href="#ga84189990d2b832285ad27e20e1ec9086"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__localize__data.html">player_localize_data</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__localize.html#gacbce1f80912e481703ca9ce04ad3c851">player_localize_data_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: hypotheses (<a class="el" href="group__interface__localize.html#ga3d2972160dcb523444fe04624e148f65">PLAYER_LOCALIZE_DATA_HYPOTHS</a>).  <a href="#gacbce1f80912e481703ca9ce04ad3c851"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__localize__set__pose.html">player_localize_set_pose</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__localize.html#ga0229663fbb2be5961f261255817a4337">player_localize_set_pose_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Set the robot pose estimate.  <a href="#ga0229663fbb2be5961f261255817a4337"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga15de2f1badb20db3c532d0f971ec15cd"></a><!-- doxytag: member="interface_localize::player_localize_particle_t" ref="ga15de2f1badb20db3c532d0f971ec15cd" args="" -->
typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__localize__particle.html">player_localize_particle</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__localize.html#ga15de2f1badb20db3c532d0f971ec15cd">player_localize_particle_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">A particle. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__localize__get__particles.html">player_localize_get_particles</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__localize.html#gacd271467e4c045f10d6bceefde8e75c7">player_localize_get_particles_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Get particles.  <a href="#gacd271467e4c045f10d6bceefde8e75c7"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Multi-hypothesis planar localization system. </p>
<p>The <code>localize</code> interface provides pose information for the robot. Generally speaking, localization drivers will estimate the pose of the robot by comparing observed sensor readings against a pre-defined map of the environment. See, for the example, the <a class="el" href="group__driver__amcl.html">amcl</a> driver, which implements a probabilistic Monte-Carlo localization algorithm. </p>
<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="gacbce1f80912e481703ca9ce04ad3c851"></a><!-- doxytag: member="player_interfaces.h::player_localize_data_t" ref="gacbce1f80912e481703ca9ce04ad3c851" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">typedef struct <a class="el" href="structplayer__localize__data.html">player_localize_data</a>  <a class="el" href="structplayer__localize__data.html">player_localize_data_t</a></td>
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<div class="memdoc">

<p>Data: hypotheses (<a class="el" href="group__interface__localize.html#ga3d2972160dcb523444fe04624e148f65">PLAYER_LOCALIZE_DATA_HYPOTHS</a>). </p>
<p>The <code>localize</code> interface returns a data packet containing an an array of hypotheses. </p>

</div>
</div>
<a class="anchor" id="gacd271467e4c045f10d6bceefde8e75c7"></a><!-- doxytag: member="player_interfaces.h::player_localize_get_particles_t" ref="gacd271467e4c045f10d6bceefde8e75c7" args="" -->
<div class="memitem">
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          <td class="memname">typedef struct <a class="el" href="structplayer__localize__get__particles.html">player_localize_get_particles</a>  <a class="el" href="structplayer__localize__get__particles.html">player_localize_get_particles_t</a></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Request/reply: Get particles. </p>
<p>To get (usually a subset of) the current particle set (assuming the underlying driver uses a particle filter), send a null <a class="el" href="group__interface__localize.html#ga6e9092e6661c814a5e0edf4d202f99b9">PLAYER_LOCALIZE_REQ_GET_PARTICLES</a> request. </p>

</div>
</div>
<a class="anchor" id="ga84189990d2b832285ad27e20e1ec9086"></a><!-- doxytag: member="player_interfaces.h::player_localize_hypoth_t" ref="ga84189990d2b832285ad27e20e1ec9086" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">typedef struct <a class="el" href="structplayer__localize__hypoth.html">player_localize_hypoth</a>  <a class="el" href="structplayer__localize__hypoth.html">player_localize_hypoth_t</a></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Hypothesis format. </p>
<p>Since the robot pose may be ambiguous (i.e., the robot may at any of a number of widely spaced locations), the <code>localize</code> interface is capable of returning more that one hypothesis. </p>

</div>
</div>
<a class="anchor" id="ga0229663fbb2be5961f261255817a4337"></a><!-- doxytag: member="player_interfaces.h::player_localize_set_pose_t" ref="ga0229663fbb2be5961f261255817a4337" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">typedef struct <a class="el" href="structplayer__localize__set__pose.html">player_localize_set_pose</a>  <a class="el" href="structplayer__localize__set__pose.html">player_localize_set_pose_t</a></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Request/reply: Set the robot pose estimate. </p>
<p>Set the current robot pose hypothesis by sending a <a class="el" href="group__interface__localize.html#ga7e27e4b1450ef87131c7b735b3837b81">PLAYER_LOCALIZE_REQ_SET_POSE</a> request. Null response. </p>

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Last updated 12 September 2005 21:38:45
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