lasermodel.h
1/***************************************************************************
2 * Copyright (C) 2005 by Tarek Taha *
3 * tataha@eng.uts.edu.au *
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 *
17 * Free Software Foundation, Inc., *
18 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
19 ***************************************************************************/
20
21#ifndef LASERMODEL_H_
22#define LASERMODEL_H_
23// Info for a single range measurement
24typedef struct
25{
26 double range, bearing;
28
30{
31 private:
32 mapgrid * * map; // Pointer to the OG map
33 double range_cov; // Covariance in the range reading
34 double range_bad; // Probability of spurious range readings
35 // Pre-computed laser sensor model
36 int lut_size;
37 double lut_res;
38 double *lut_probs;
39 int range_count;
40 laser_range_t *ranges;
41 public :
42 void ClearRanges();
43 void AddRange(double,double);
44 void PreCompute();
45 double RangeProb(double,double);
46 double PoseProb();
47 LaserModel();
49 LaserModel(mapgrid * * );
50};
51#endif /*LASERMODEL_H_*/
Definition lasermodel.h:30
Definition laser.h:44
Definition mixed/mricp/include/map.h:36