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server
drivers
localization
amcl
models
wifi.h
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/*
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* Player - One Hell of a Robot Server
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* Copyright (C) 2000 Brian Gerkey & Kasper Stoy
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* gerkey@usc.edu kaspers@robotics.usc.edu
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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 Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**************************************************************************
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* Desc: Sensor models for wifi.
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* Author: Andrew Howard
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* Date: 30 May 2003
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* CVS: $Id$
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*************************************************************************/
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#ifndef WIFI_H
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#define WIFI_H
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#include "../pf/pf.h"
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#include "../pf/pf_pdf.h"
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#include "../map/map.h"
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#ifdef __cplusplus
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extern
"C"
{
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#endif
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// Model information
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typedef
struct
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{
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// Pointer to the map map
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map_t
*map;
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// Observed levels
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int
level_count;
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int
levels[MAP_WIFI_MAX_LEVELS];
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}
wifi_t
;
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// Create an sensor model
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wifi_t
*wifi_alloc(
map_t
*map);
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// Free an sensor model
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void
wifi_free(
wifi_t
*sensor);
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// Set the observed wifi levels
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void
wifi_set_levels(
wifi_t
*self,
int
level_count,
int
levels[]);
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// The sensor model function
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double
wifi_sensor_model(
wifi_t
*self,
pf_vector_t
pose);
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#ifdef __cplusplus
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}
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#endif
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#endif
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map_t
Definition
localization/amcl/map/map.h:67
pf_vector_t
Definition
pf_vector.h:42
wifi_t
Definition
wifi.h:42
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