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server
drivers
mixed
mricp
include
lasermodel.h
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/***************************************************************************
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* Copyright (C) 2005 by Tarek Taha *
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* tataha@eng.uts.edu.au *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, write to the *
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* Free Software Foundation, Inc., *
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
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***************************************************************************/
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#ifndef LASERMODEL_H_
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#define LASERMODEL_H_
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// Info for a single range measurement
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typedef
struct
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{
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double
range, bearing;
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}
laser_range_t
;
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class
LaserModel
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{
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private
:
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mapgrid
* * map;
// Pointer to the OG map
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double
range_cov;
// Covariance in the range reading
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double
range_bad;
// Probability of spurious range readings
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// Pre-computed laser sensor model
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int
lut_size;
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double
lut_res;
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double
*lut_probs;
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int
range_count;
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laser_range_t
*ranges;
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public :
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void
ClearRanges();
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void
AddRange(
double
,
double
);
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void
PreCompute();
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double
RangeProb(
double
,
double
);
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double
PoseProb();
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LaserModel
();
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~LaserModel
();
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LaserModel
(
mapgrid
* * );
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};
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#endif
/*LASERMODEL_H_*/
LaserModel
Definition
lasermodel.h:30
laser_range_t
Definition
laser.h:44
mapgrid
Definition
mixed/mricp/include/map.h:36
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