amcl_sensor.h
1/*
2 * Player - One Hell of a Robot Server
3 * Copyright (C) 2000 Brian Gerkey et al.
4 *
5 * This program is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 *
10 * This program is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
14 *
15 * You should have received a copy of the GNU General Public License
16 * along with this program; if not, write to the Free Software
17 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
18 *
19 */
21//
22// Desc: Adaptive Monte-Carlo localization
23// Author: Andrew Howard
24// Date: 6 Feb 2003
25// CVS: $Id$
26//
28
29#ifndef AMCL_SENSOR_H
30#define AMCL_SENSOR_H
31
32#include "amcl.h"
33
34#include <libplayercore/playercore.h>
35#include "pf/pf.h"
36
37
38// Forward declarations
39class AMCLSensorData;
40
41
42// Base class for all AMCL sensors
44{
45 // Default constructor
46 public: AMCLSensor(AdaptiveMCL & aAMCL);
47
48 // Default destructor
49 public: virtual ~AMCLSensor();
50
51 // Load the model
52 public: virtual int Load(ConfigFile* cf, int section);
53
54 // Unload the model
55 public: virtual int Unload(void);
56
57 // Initialize the model
58 public: virtual int Setup(void);
59
60 // Finalize the model
61 public: virtual int Shutdown(void);
62
63 // Process message for this interface
64 public: virtual int ProcessMessage(QueuePointer &resp_queue,
65 player_msghdr * hdr,
66 void * data) = 0;
67// public: virtual AMCLSensorData *GetData(void);
68
69 // Update the filter based on the action model. Returns true if the filter
70 // has been updated.
71 public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data);
72
73 // Initialize the filter based on the sensor model. Returns true if the
74 // filter has been initialized.
75 public: virtual bool InitSensor(pf_t *pf, AMCLSensorData *data);
76
77 // Update the filter based on the sensor model. Returns true if the
78 // filter has been updated.
79 public: virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data);
80
81 // Flag is true if this is the action sensor
82 public: bool is_action;
83
84 // Action pose (action sensors only)
85 public: pf_vector_t pose;
86
87 // AMCL Base
88 protected: AdaptiveMCL & AMCL;
89
90#ifdef INCLUDE_RTKGUI
91 // Setup the GUI
92 public: virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
93
94 // Finalize the GUI
95 public: virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
96
97 // Draw sensor data
98 public: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, AMCLSensorData *data);
99#endif
100};
101
102
103
104// Base class for all AMCL sensor measurements
106{
107 // Pointer to sensor that generated the data
108 public: AMCLSensor *sensor;
109 virtual ~AMCLSensorData() {}
110
111 // Data timestamp
112 public: double time;
113};
114
115
116
117#endif
Definition amcl_sensor.h:106
Definition amcl_sensor.h:44
Definition amcl.h:71
Class for loading configuration file information.
Definition configfile.h:197
An autopointer for the message queue.
Definition message.h:74
Definition pf.h:111
Definition pf_vector.h:42
Generic message header.
Definition player.h:162