29#ifndef AMCL_FIDUCIAL_H
30#define AMCL_FIDUCIAL_H
32#include "amcl_sensor.h"
34#include "models/laser.h"
40 public:
int fiducial_count;
41 public:
double fiducials[PLAYER_FIDUCIAL_MAX_SAMPLES][3];
48 public:
int fiducial_count;
49 public:
double origin_x;
50 public:
double origin_y;
52 public:
double fiducials[100][3];
55double fiducial_map_calc_range(
AMCLFiducialMap* fmap,
double ox,
double oy,
double oa,
double max_range,
int id,
int k);
56double fiducial_map_calc_bearing(
AMCLFiducialMap* fmap,
double ox,
double oy,
double oa,
double max_range,
int id,
int k);
67 public:
virtual int Load(
ConfigFile* cf,
int section);
70 public:
virtual int Unload(
void);
73 public:
virtual int Setup(
void);
76 public:
virtual int Shutdown(
void);
89 private:
int SetupMap(
void);
91 private:
int read_map_file(
const char *);
94 private: player_device_id_t fiducial_id;
95 private: player_device_id_t map_id;
111 private:
double range_max;
114 private:
double range_var;
117 private:
double angle_var;
120 private:
double range_bad;
123 private:
double angle_bad;
127 private:
virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
130 private:
virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
133 public:
virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig,
AMCLSensorData *data);
136 private: rtk_fig_t *fig, *map_fig;
Definition amcl_fiducial.h:38
Definition amcl_fiducial.h:46
Definition amcl_fiducial.h:62
Definition amcl_sensor.h:106
Definition amcl_sensor.h:44
Class for loading configuration file information.
Definition configfile.h:197
Base class for all drivers.
Definition driver.h:109
Definition localization/amcl/map/map.h:67
Definition pf_vector.h:42
A device address.
Definition player.h:146