localize.hh
Definition localize.hh:30
bool Update(double robot_x, double robot_y, double robot_angle, DoublesVector ranges, DoublesVector bearings)
Compute actualization from robot accumulated odometry and laser reading Returns true if the update wa...
Definition localize.cc:93
void SetLaserPose(double x, double y, double a)
Update laser pose (limited to x, y ,a for now, though) m m rad.
Definition localize.cc:44
Localize(double laser_max_range, double laser_pose_x, double laser_pose_y, double laser_pose_angle, double laser_noise_range, double laser_noise_bearing, double odom_noise_x, double odom_noise_y, double odom_noise_angle)
Initialize parameters.
Definition localize.cc:26
void SetRobotPoseError(double ex, double ey, double eth)
Initial pose error.
Definition localize.cc:61
void SetRobotPose(double x, double y, double angle)
Initialize robot map pose, and reset odometry to zero.
Definition localize.cc:49
void SetPoses(double ox, double oy, double oth, double gx, double gy, double gth)
Initialize both odometry (if it is not zero) and global (map) pose.
Definition localize.cc:54
Definition gridmap.h:112
Definition types.hh:43
Definition robot_location.hh:31
Definition scan.hh:31
Definition segment_map.hh:30
Definition types.hh:30