odometry.h
00001 /* 00002 * Player - One Hell of a Robot Server 00003 * Copyright (C) 2003 00004 * Andrew Howard 00005 * Brian Gerkey 00006 * 00007 * This program is free software; you can redistribute it and/or modify 00008 * it under the terms of the GNU General Public License as published by 00009 * the Free Software Foundation; either version 2 of the License, or 00010 * (at your option) any later version. 00011 * 00012 * This program is distributed in the hope that it will be useful, 00013 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00015 * GNU General Public License for more details. 00016 * 00017 * You should have received a copy of the GNU General Public License 00018 * along with this program; if not, write to the Free Software 00019 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00020 * 00021 */ 00022 00023 00024 /************************************************************************** 00025 * Desc: Sensor/action models for odometry. 00026 * Author: Andrew Howard 00027 * Date: 15 Dec 2002 00028 * CVS: $Id: odometry.h 8108 2009-07-23 23:03:37Z thjc $ 00029 *************************************************************************/ 00030 00031 #ifndef ODOMETRY_H 00032 #define ODOMETRY_H 00033 00034 #include "../pf/pf.h" 00035 #include "../pf/pf_pdf.h" 00036 00037 #ifdef __cplusplus 00038 extern "C" { 00039 #endif 00040 00041 00042 // Model information 00043 typedef struct 00044 { 00045 // PDF used for initialization 00046 pf_pdf_gaussian_t *init_pdf; 00047 00048 // PDF used to generate action samples 00049 pf_pdf_gaussian_t *action_pdf; 00050 00051 } odometry_t; 00052 00053 00054 // Create an sensor model 00055 odometry_t *odometry_alloc(); 00056 00057 // Free an sensor model 00058 void odometry_free(odometry_t *sensor); 00059 00060 // Prepare to initialize the distribution 00061 void odometry_init_init(odometry_t *self, pf_vector_t mean, pf_matrix_t cov); 00062 00063 // Finish initializing the distribution 00064 void odometry_init_term(odometry_t *self); 00065 00066 // Initialize the distribution 00067 pf_vector_t odometry_init_model(odometry_t *self); 00068 00069 // Prepare to update the distribution using the action model. 00070 void odometry_action_init(odometry_t *self, pf_vector_t old_pose, pf_vector_t new_pose); 00071 00072 // Finish updating the distrubiotn using the action model 00073 void odometry_action_term(odometry_t *self); 00074 00075 // The action model function 00076 pf_vector_t odometry_action_model(odometry_t *self, pf_vector_t pose); 00077 00078 00079 #ifdef __cplusplus 00080 } 00081 #endif 00082 00083 #endif 00084