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_*/

Last updated 12 September 2005 21:38:45