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<div class="header">
<div class="summary">
<a href="#nested-classes">Classes</a> |
<a href="#typedef-members">Typedefs</a> |
<a href="#func-members">Functions</a> </div>
<div class="headertitle">
<h1>localize<br/>
<small>
[<a class="el" href="group__playerc__proxies.html">Device proxies</a>]</small>
</h1> </div>
</div>
<div class="contents">
<p>The localize proxy provides an interface to localization drivers.
<a href="#_details">More...</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__localize__particle.html">playerc_localize_particle</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Hypothesis data. <a href="structplayerc__localize__particle.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Localization device data. <a href="structplayerc__localize__t.html#_details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayerc__localize__particle.html">playerc_localize_particle</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__localize.html#gaf736c87039f4ad85992aa1fc68d88c5e">playerc_localize_particle_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Hypothesis data. <a href="#gaf736c87039f4ad85992aa1fc68d88c5e"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT <a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__localize.html#ga191492d8752a4ebd6cfbbfce5fc58fe2">playerc_localize_create</a> (<a class="el" href="struct__playerc__client__t.html">playerc_client_t</a> *client, int index)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Create a localize proxy. <a href="#ga191492d8752a4ebd6cfbbfce5fc58fe2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__localize.html#gac693e2d97320faa4bc38feb31e5e0e5e">playerc_localize_destroy</a> (<a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a> *device)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destroy a localize proxy. <a href="#gac693e2d97320faa4bc38feb31e5e0e5e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__localize.html#ga7740689b7e36278610e7fd237a23f459">playerc_localize_subscribe</a> (<a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a> *device, int access)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Subscribe to the localize device. <a href="#ga7740689b7e36278610e7fd237a23f459"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__localize.html#ga6423064043499e9a3f28a12441568be7">playerc_localize_unsubscribe</a> (<a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a> *device)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Un-subscribe from the localize device. <a href="#ga6423064043499e9a3f28a12441568be7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__localize.html#ga521927fef320ca5fc57fb0e2ec538ca3">playerc_localize_set_pose</a> (<a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a> *device, double pose[3], double cov[3])</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the the robot pose (mean and covariance). <a href="#ga521927fef320ca5fc57fb0e2ec538ca3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__localize.html#ga94898289482cf4ce368340fc489be776">playerc_localize_get_particles</a> (<a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a> *device)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request the particle set. <a href="#ga94898289482cf4ce368340fc489be776"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>The localize proxy provides an interface to localization drivers. </p>
<p>Generally speaking, these are abstract drivers that attempt to localize the robot by matching sensor observations (odometry, laser and/or sonar) against a prior map of the environment (such as an occupancy grid). Since the pose may be ambiguous, multiple hypotheses may returned; each hypothesis specifies one possible pose estimate for the robot. See the Player manual for details of the localize interface, and and drivers that support it (such as the amcl driver). </p>
<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="gaf736c87039f4ad85992aa1fc68d88c5e"></a><!-- doxytag: member="playerc.h::playerc_localize_particle_t" ref="gaf736c87039f4ad85992aa1fc68d88c5e" args="" -->
<div class="memitem">
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<td class="memname">typedef struct <a class="el" href="structplayerc__localize__particle.html">playerc_localize_particle</a> <a class="el" href="structplayerc__localize__particle.html">playerc_localize_particle_t</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Hypothesis data. </p>
</div>
</div>
<hr/><h2>Function Documentation</h2>
<a class="anchor" id="ga191492d8752a4ebd6cfbbfce5fc58fe2"></a><!-- doxytag: member="playerc.h::playerc_localize_create" ref="ga191492d8752a4ebd6cfbbfce5fc58fe2" args="(playerc_client_t *client, int index)" -->
<div class="memitem">
<div class="memproto">
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<td class="memname">PLAYERC_EXPORT <a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a>* playerc_localize_create </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct__playerc__client__t.html">playerc_client_t</a> * </td>
<td class="paramname"> <em>client</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"> <em>index</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Create a localize proxy. </p>
</div>
</div>
<a class="anchor" id="gac693e2d97320faa4bc38feb31e5e0e5e"></a><!-- doxytag: member="playerc.h::playerc_localize_destroy" ref="gac693e2d97320faa4bc38feb31e5e0e5e" args="(playerc_localize_t *device)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT void playerc_localize_destroy </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a> * </td>
<td class="paramname"> <em>device</em></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Destroy a localize proxy. </p>
</div>
</div>
<a class="anchor" id="ga94898289482cf4ce368340fc489be776"></a><!-- doxytag: member="playerc.h::playerc_localize_get_particles" ref="ga94898289482cf4ce368340fc489be776" args="(playerc_localize_t *device)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT int playerc_localize_get_particles </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a> * </td>
<td class="paramname"> <em>device</em></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Request the particle set. </p>
<p>Caller must supply sufficient storage for the result. </p>
<p>Referenced by <a class="el" href="classPlayerCc_1_1LocalizeProxy.html#a1bcc1f2d85c0364368f58e56e5ec53ef">PlayerCc::LocalizeProxy::GetParticles()</a>.</p>
</div>
</div>
<a class="anchor" id="ga521927fef320ca5fc57fb0e2ec538ca3"></a><!-- doxytag: member="playerc.h::playerc_localize_set_pose" ref="ga521927fef320ca5fc57fb0e2ec538ca3" args="(playerc_localize_t *device, double pose[3], double cov[3])" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT int playerc_localize_set_pose </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a> * </td>
<td class="paramname"> <em>device</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"> <em>pose</em>[3], </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"> <em>cov</em>[3]</td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the the robot pose (mean and covariance). </p>
</div>
</div>
<a class="anchor" id="ga7740689b7e36278610e7fd237a23f459"></a><!-- doxytag: member="playerc.h::playerc_localize_subscribe" ref="ga7740689b7e36278610e7fd237a23f459" args="(playerc_localize_t *device, int access)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT int playerc_localize_subscribe </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a> * </td>
<td class="paramname"> <em>device</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"> <em>access</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Subscribe to the localize device. </p>
</div>
</div>
<a class="anchor" id="ga6423064043499e9a3f28a12441568be7"></a><!-- doxytag: member="playerc.h::playerc_localize_unsubscribe" ref="ga6423064043499e9a3f28a12441568be7" args="(playerc_localize_t *device)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT int playerc_localize_unsubscribe </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__localize__t.html">playerc_localize_t</a> * </td>
<td class="paramname"> <em>device</em></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Un-subscribe from the localize device. </p>
</div>
</div>
</div>
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Last updated 12 September 2005 21:38:45
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