lasermodel.h
00001 /*************************************************************************** 00002 * Copyright (C) 2005 by Tarek Taha * 00003 * tataha@eng.uts.edu.au * 00004 * * 00005 * This program is free software; you can redistribute it and/or modify * 00006 * it under the terms of the GNU General Public License as published by * 00007 * the Free Software Foundation; either version 2 of the License, or * 00008 * (at your option) any later version. * 00009 * * 00010 * This program is distributed in the hope that it will be useful, * 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00013 * GNU General Public License for more details. * 00014 * * 00015 * You should have received a copy of the GNU General Public License * 00016 * along with this program; if not, write to the * 00017 * Free Software Foundation, Inc., * 00018 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * 00019 ***************************************************************************/ 00020 00021 #ifndef LASERMODEL_H_ 00022 #define LASERMODEL_H_ 00023 // Info for a single range measurement 00024 typedef struct 00025 { 00026 double range, bearing; 00027 } laser_range_t; 00028 00029 class LaserModel 00030 { 00031 private: 00032 mapgrid * * map; // Pointer to the OG map 00033 double range_cov; // Covariance in the range reading 00034 double range_bad; // Probability of spurious range readings 00035 // Pre-computed laser sensor model 00036 int lut_size; 00037 double lut_res; 00038 double *lut_probs; 00039 int range_count; 00040 laser_range_t *ranges; 00041 public : 00042 void ClearRanges(); 00043 void AddRange(double,double); 00044 void PreCompute(); 00045 double RangeProb(double,double); 00046 double PoseProb(); 00047 LaserModel(); 00048 ~LaserModel(); 00049 LaserModel(mapgrid * * ); 00050 }; 00051 #endif /*LASERMODEL_H_*/