<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>CRobot2DPoseEstimator.h Source File</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div>
<div align="right">
<a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a>
</div>
<!-- Generated by Doxygen 1.7.5 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li><a href="annotated.html"><span>Classes</span></a></li>
<li class="current"><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<div class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</div><div class="right"></div>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="files.html"><span>File List</span></a></li>
<li><a href="globals.html"><span>File Members</span></a></li>
</ul>
</div>
<div class="header">
<div class="headertitle">
<div class="title">CRobot2DPoseEstimator.h</div> </div>
</div>
<div class="contents">
<a href="_c_robot2_d_pose_estimator_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CRobot2DPoseEstimator_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CRobot2DPoseEstimator_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_critical_section_8h.html">mrpt/synch/CCriticalSection.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="lightweight__geom__data_8h.html">mrpt/math/lightweight_geom_data.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keyword">namespace </span>poses
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00039"></a>00039 <span class="keyword">using namespace </span>mrpt::system;
<a name="l00040"></a>00040 <span class="comment"></span>
<a name="l00041"></a>00041 <span class="comment"> /** A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry and localization data.</span>
<a name="l00042"></a>00042 <span class="comment"> * The implemented model is a state vector:</span>
<a name="l00043"></a>00043 <span class="comment"> * - (x,y,phi,v,w)</span>
<a name="l00044"></a>00044 <span class="comment"> * for the robot pose (x,y,phi) and velocities (v,w).</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * The filter can be asked for an extrapolation for some arbitrary time "t'", and it'll do a simple linear prediction.</span>
<a name="l00047"></a>00047 <span class="comment"> * All methods are thread-safe.</span>
<a name="l00048"></a>00048 <span class="comment"> * \ingroup poses_grp poses_pdf_grp</span>
<a name="l00049"></a>00049 <span class="comment"> */</span>
<a name="l00050"></a>00050 <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> CRobot2DPoseEstimator
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <span class="keyword">public</span>:
<a name="l00053"></a>00053 CRobot2DPoseEstimator( ); <span class="comment">//!< Default constructor</span>
<a name="l00054"></a>00054 <span class="comment"></span> <span class="keyword">virtual</span> ~CRobot2DPoseEstimator(); <span class="comment">//!< Destructor</span>
<a name="l00055"></a>00055 <span class="comment"></span> <span class="keywordtype">void</span> reset();
<a name="l00056"></a>00056 <span class="comment"></span>
<a name="l00057"></a>00057 <span class="comment"> /** Updates the filter so the pose is tracked to the current time */</span>
<a name="l00058"></a>00058 <span class="keywordtype">void</span> processUpdateNewPoseLocalization(
<a name="l00059"></a>00059 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &newPose,
<a name="l00060"></a>00060 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> &newPoseCov,
<a name="l00061"></a>00061 <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">TTimeStamp</a> cur_tim);
<a name="l00062"></a>00062 <span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment"> /** Updates the filter so the pose is tracked to the current time */</span>
<a name="l00064"></a>00064 <span class="keywordtype">void</span> processUpdateNewOdometry(
<a name="l00065"></a>00065 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &newGlobalOdometry,
<a name="l00066"></a>00066 <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">TTimeStamp</a> cur_tim,
<a name="l00067"></a>00067 <span class="keywordtype">bool</span> hasVelocities = <span class="keyword">false</span>,
<a name="l00068"></a>00068 <span class="keywordtype">float</span> v = 0,
<a name="l00069"></a>00069 <span class="keywordtype">float</span> w = 0);
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment"> /** Get the current estimate, obtained as:</span>
<a name="l00072"></a>00072 <span class="comment"> *</span>
<a name="l00073"></a>00073 <span class="comment"> * last_loc (+) [ last_odo (-) odo_ref ] (+) extrapolation_from_vw</span>
<a name="l00074"></a>00074 <span class="comment"> *</span>
<a name="l00075"></a>00075 <span class="comment"> * \return true is the estimate can be trusted. False if the real observed data is too old or there is no valid data yet.</span>
<a name="l00076"></a>00076 <span class="comment"> * \sa getLatestRobotPose</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a>00078 <span class="keywordtype">bool</span> getCurrentEstimate( <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &pose, <span class="keywordtype">float</span> &v, <span class="keywordtype">float</span> &w, <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">TTimeStamp</a> tim_query = <a class="code" href="group__time__date.html#ga8cfac7450724f121d3a6a40a4b9ce205" title="A shortcut for system::getCurrentTime.">mrpt::system::now</a>() ) <span class="keyword">const</span>;
<a name="l00079"></a>00079 <span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** Get the current estimate, obtained as:</span>
<a name="l00081"></a>00081 <span class="comment"> *</span>
<a name="l00082"></a>00082 <span class="comment"> * last_loc (+) [ last_odo (-) odo_ref ] (+) extrapolation_from_vw</span>
<a name="l00083"></a>00083 <span class="comment"> *</span>
<a name="l00084"></a>00084 <span class="comment"> * \return true is the estimate can be trusted. False if the real observed data is too old or there is no valid data yet.</span>
<a name="l00085"></a>00085 <span class="comment"> * \sa getLatestRobotPose</span>
<a name="l00086"></a>00086 <span class="comment"> */</span>
<a name="l00087"></a><a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a7238be4e235f437157f32454f4fc6e83">00087</a> <span class="keywordtype">bool</span> getCurrentEstimate( <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &pose, <span class="keywordtype">float</span> &v, <span class="keywordtype">float</span> &w, <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">TTimeStamp</a> tim_query = <a class="code" href="group__time__date.html#ga8cfac7450724f121d3a6a40a4b9ce205" title="A shortcut for system::getCurrentTime.">mrpt::system::now</a>() )<span class="keyword"> const</span>
<a name="l00088"></a>00088 <span class="keyword"> </span>{
<a name="l00089"></a>00089 <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> p;
<a name="l00090"></a>00090 <span class="keywordtype">bool</span> ret = getCurrentEstimate(p,v,w,tim_query);
<a name="l00091"></a>00091 <span class="keywordflow">if</span> (ret)
<a name="l00092"></a>00092 pose = <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a>(p);
<a name="l00093"></a>00093 <span class="keywordflow">return</span> ret;
<a name="l00094"></a>00094 }
<a name="l00095"></a>00095 <span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /** Get the latest known robot pose, either from odometry or localization.</span>
<a name="l00097"></a>00097 <span class="comment"> * This differs from getCurrentEstimate() in that this method does NOT extrapolate as getCurrentEstimate() does.</span>
<a name="l00098"></a>00098 <span class="comment"> * \return false if there is not estimation yet.</span>
<a name="l00099"></a>00099 <span class="comment"> * \sa getCurrentEstimate</span>
<a name="l00100"></a>00100 <span class="comment"> */</span>
<a name="l00101"></a>00101 <span class="keywordtype">bool</span> getLatestRobotPose(<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &pose) <span class="keyword">const</span>;
<a name="l00102"></a>00102 <span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment"> /** Get the latest known robot pose, either from odometry or localization.</span>
<a name="l00104"></a>00104 <span class="comment"> * \return false if there is not estimation yet.</span>
<a name="l00105"></a>00105 <span class="comment"> */</span>
<a name="l00106"></a><a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a1f895fcd5cef9be7229088af276a652d">00106</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> getLatestRobotPose(<a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &pose)<span class="keyword"> const</span>
<a name="l00107"></a>00107 <span class="keyword"> </span>{
<a name="l00108"></a>00108 <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> p;
<a name="l00109"></a>00109 <span class="keywordtype">bool</span> v = getLatestRobotPose(p);
<a name="l00110"></a>00110 <span class="keywordflow">if</span> (v)
<a name="l00111"></a>00111 {
<a name="l00112"></a>00112 pose.x(p.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a4e0f59996ff467539d21a402d8251264" title="X coordinate.">x</a>);
<a name="l00113"></a>00113 pose.y(p.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a47f362c442c15e7dccee6704cef4f387" title="Y coordinate.">y</a>);
<a name="l00114"></a>00114 pose.<a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html#ab9a8af6ad8281b613bbc37cb3f0c9bb5" title="Get the phi angle of the 2D pose (in radians)">phi</a>(p.<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html#a0a82abf23dbae9f3e78be72aed1c9f9f" title="Phi coordinate.">phi</a>);
<a name="l00115"></a>00115 }
<a name="l00116"></a>00116 <span class="keywordflow">return</span> v;
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118
<a name="l00119"></a>00119
<a name="l00120"></a>00120 <span class="keyword">struct </span>TOptions
<a name="l00121"></a>00121 {
<a name="l00122"></a><a class="code" href="structmrpt_1_1poses_1_1_c_robot2_d_pose_estimator_1_1_t_options.html#ae81f039e8dbc9df437d955a670c54c31">00122</a> <a class="code" href="structmrpt_1_1poses_1_1_c_robot2_d_pose_estimator_1_1_t_options.html">TOptions</a>() :
<a name="l00123"></a>00123 max_odometry_age ( 1.0 ),
<a name="l00124"></a>00124 max_localiz_age ( 4.0 )
<a name="l00125"></a>00125 {}
<a name="l00126"></a>00126
<a name="l00127"></a><a class="code" href="structmrpt_1_1poses_1_1_c_robot2_d_pose_estimator_1_1_t_options.html#ac7661b8b27e5ffe4142ab4a8738e4589">00127</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1poses_1_1_c_robot2_d_pose_estimator_1_1_t_options.html#ac7661b8b27e5ffe4142ab4a8738e4589" title="To consider data old, in seconds.">max_odometry_age</a>; <span class="comment">//!< To consider data old, in seconds</span>
<a name="l00128"></a><a class="code" href="structmrpt_1_1poses_1_1_c_robot2_d_pose_estimator_1_1_t_options.html#a0694c8d90aab5b85f9cbe5751adb6f12">00128</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1poses_1_1_c_robot2_d_pose_estimator_1_1_t_options.html#a0694c8d90aab5b85f9cbe5751adb6f12" title="To consider data old, in seconds.">max_localiz_age</a>; <span class="comment">//!< To consider data old, in seconds</span>
<a name="l00129"></a>00129 <span class="comment"></span> };
<a name="l00130"></a>00130
<a name="l00131"></a><a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#af29382052aa326f1f6e60325dfa9d00c">00131</a> <a class="code" href="structmrpt_1_1poses_1_1_c_robot2_d_pose_estimator_1_1_t_options.html">TOptions</a> <a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#af29382052aa326f1f6e60325dfa9d00c" title="parameters of the filter.">params</a>; <span class="comment">//!< parameters of the filter.</span>
<a name="l00132"></a>00132 <span class="comment"></span>
<a name="l00133"></a>00133 <span class="keyword">private</span>:
<a name="l00134"></a><a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a097c4ab6c95dd917a06da28f1e104724">00134</a> mrpt<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html" title="This class provides simple critical sections functionality.">::synch::CCriticalSection</a> <a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a097c4ab6c95dd917a06da28f1e104724">m_cs</a>;
<a name="l00135"></a>00135
<a name="l00136"></a><a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a23211f9aa6d9186e9c2e585ea745ea68">00136</a> <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">TTimeStamp</a> <a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a23211f9aa6d9186e9c2e585ea745ea68">m_last_loc_time</a>;
<a name="l00137"></a><a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#af9f19580ee2749a654646db2bbee6f2c">00137</a> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> <a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#af9f19580ee2749a654646db2bbee6f2c" title="Last pose as estimated by the localization/SLAM subsystem.">m_last_loc</a>; <span class="comment">//!< Last pose as estimated by the localization/SLAM subsystem.</span>
<a name="l00138"></a><a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a72575b10c516db0a04fccd7e06025503">00138</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> <a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a72575b10c516db0a04fccd7e06025503">m_last_loc_cov</a>;
<a name="l00139"></a>00139
<a name="l00140"></a><a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#aec15c3b8ce35b36c95a30c23c1e84b02">00140</a> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> <a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#aec15c3b8ce35b36c95a30c23c1e84b02" title="The interpolated odometry position for the last "m_robot_pose" (used as "coordinates base" for subseq...">m_loc_odo_ref</a>; <span class="comment">//!< The interpolated odometry position for the last "m_robot_pose" (used as "coordinates base" for subsequent odo readings)</span>
<a name="l00141"></a>00141 <span class="comment"></span>
<a name="l00142"></a><a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a803564a552a383e63813e6fb489688b1">00142</a> <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">TTimeStamp</a> <a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a803564a552a383e63813e6fb489688b1">m_last_odo_time</a>;
<a name="l00143"></a><a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#ab2a4e23cee46f1a21bf6c25638814fbe">00143</a> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> <a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#ab2a4e23cee46f1a21bf6c25638814fbe">m_last_odo</a>;
<a name="l00144"></a><a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a7a9d14b23054dd6db38f371e0ece7fdb">00144</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a7a9d14b23054dd6db38f371e0ece7fdb">m_robot_v</a>;
<a name="l00145"></a><a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a3db098bfa296bd96c96ea946921b4562">00145</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html#a3db098bfa296bd96c96ea946921b4562">m_robot_w</a>;
<a name="l00146"></a>00146 <span class="comment"></span>
<a name="l00147"></a>00147 <span class="comment"> /** An auxiliary method to extrapolate the pose of a robot located at "p" with velocities (v,w) after a time delay "delta_time".</span>
<a name="l00148"></a>00148 <span class="comment"> */</span>
<a name="l00149"></a>00149 <span class="keyword">static</span> <span class="keywordtype">void</span> extrapolateRobotPose(
<a name="l00150"></a>00150 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &p,
<a name="l00151"></a>00151 <span class="keyword">const</span> <span class="keywordtype">float</span> v,
<a name="l00152"></a>00152 <span class="keyword">const</span> <span class="keywordtype">float</span> w,
<a name="l00153"></a>00153 <span class="keyword">const</span> <span class="keywordtype">double</span> delta_time,
<a name="l00154"></a>00154 <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &new_p);
<a name="l00155"></a>00155
<a name="l00156"></a>00156 }; <span class="comment">// end of class</span>
<a name="l00157"></a>00157
<a name="l00158"></a>00158 } <span class="comment">// End of namespace</span>
<a name="l00159"></a>00159 } <span class="comment">// End of namespace</span>
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
