41#include <playerconfig.h>
46#include <libplayercore/playercore.h>
110 public:
virtual void UpdateSensorData(
void);
113 private:
virtual void Main(
void);
119 private:
void InitFilter(
void);
122 private:
bool UpdateFilter();
125 private:
void PutDataLocalize(
double time);
128 private:
void PutDataPosition(
pf_vector_t delta,
double time);
135 private:
int SetupGUI(
void);
138 private:
int ShutdownGUI(
void);
141 private:
void UpdateGUI(
void);
144 private:
void DrawPoseEst();
156 private:
int sensor_count;
160 private:
int init_sensor;
163 private:
int action_sensor;
167 private:
int pf_min_samples, pf_max_samples;
168 private:
double pf_err, pf_z;
171 private:
int q_size, q_start, q_len;
175 private:
int hyp_count;
176 private:
int hyp_alloc;
179 private: pthread_mutex_t best_hyp_lock;
182 private:
bool pf_init;
183 private:
bool pf_init_internal;
193 private:
double min_dr, min_da;
197 private:
int enable_gui;
198 private: rtk_app_t *app;
199 private: rtk_canvas_t *canvas;
200 private: rtk_fig_t *map_fig;
201 private: rtk_fig_t *pf_fig;
202 private: rtk_fig_t *robot_fig;
205#ifdef INCLUDE_OUTFILE
206 private: FILE *outfile;
Definition amcl_sensor.h:106
Definition amcl_sensor.h:44
virtual void Main(void)
Main method for driver thread.
Definition amcl.cc:625
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition amcl.cc:508
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition amcl.cc:717
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition amcl.cc:1092
Class for loading configuration file information.
Definition configfile.h:197
An autopointer for the message queue.
Definition message.h:74
Base class for drivers which oeprate with a thread.
Definition driver.h:553
Definition pf_vector.h:49
Definition pf_vector.h:42
A device address.
Definition player.h:146
Generic message header.
Definition player.h:162