wifi.h
1/*
2 * Player - One Hell of a Robot Server
3 * Copyright (C) 2000 Brian Gerkey & Kasper Stoy
4 * gerkey@usc.edu kaspers@robotics.usc.edu
5 *
6 * This program is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 *
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with this program; if not, write to the Free Software
18 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
19 *
20 */
21/**************************************************************************
22 * Desc: Sensor models for wifi.
23 * Author: Andrew Howard
24 * Date: 30 May 2003
25 * CVS: $Id$
26 *************************************************************************/
27
28#ifndef WIFI_H
29#define WIFI_H
30
31#include "../pf/pf.h"
32#include "../pf/pf_pdf.h"
33#include "../map/map.h"
34
35#ifdef __cplusplus
36extern "C" {
37#endif
38
39
40// Model information
41typedef struct
42{
43 // Pointer to the map map
44 map_t *map;
45
46 // Observed levels
47 int level_count;
48 int levels[MAP_WIFI_MAX_LEVELS];
49
50} wifi_t;
51
52
53// Create an sensor model
54wifi_t *wifi_alloc(map_t *map);
55
56// Free an sensor model
57void wifi_free(wifi_t *sensor);
58
59// Set the observed wifi levels
60void wifi_set_levels(wifi_t *self, int level_count, int levels[]);
61
62// The sensor model function
63double wifi_sensor_model(wifi_t *self, pf_vector_t pose);
64
65#ifdef __cplusplus
66}
67#endif
68
69#endif
70
Definition localization/amcl/map/map.h:67
Definition pf_vector.h:42
Definition wifi.h:42