laser.h
1 /*
2  * Player - One Hell of a Robot Server
3  * Copyright (C) 2003
4  * Andrew Howard
5  * Brian Gerkey
6  *
7  * This program is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2 of the License, or
10  * (at your option) any later version.
11  *
12  * This program is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with this program; if not, write to the Free Software
19  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20  *
21  */
22 
23 
24 /**************************************************************************
25  * Desc: Sensor models for the laser sensor.
26  * Author: Andrew Howard
27  * Date: 15 Dec 2002
28  * CVS: $Id$
29  *************************************************************************/
30 
31 #ifndef LASER_H
32 #define LASER_H
33 
34 #include "../pf/pf.h"
35 #include "../map/map.h"
36 
37 #ifdef __cplusplus
38 extern "C" {
39 #endif
40 
41 
42 // Info for a single range measurement
43 typedef struct
44 {
45  double range, bearing;
46 
48 
49 
50 // Model information
51 typedef struct
52 {
53  // Pointer to the map
54  map_t *map;
55 
56  // Laser pose relative to robot
57  pf_vector_t laser_pose;
58 
59  // Covariance in the range reading
60  double range_cov;
61 
62  // Probability of spurious range readings
63  double range_bad;
64 
65  // Pre-computed laser sensor model
66  int lut_size;
67  double lut_res;
68  double *lut_probs;
69 
70  // Laser (range, bearing) values
71  int range_count;
72  laser_range_t *ranges;
73 
74 } laser_t;
75 
76 
77 // Create an sensor model
78 laser_t *laser_alloc(map_t *map);
79 
80 // Free an sensor model
81 void laser_free(laser_t *sensor);
82 
83 // Clear all existing range readings
84 void laser_clear_ranges(laser_t *sensor);
85 
86 // Set the laser range readings that will be used.
87 void laser_add_range(laser_t *sensor, double range, double bearing);
88 
89 // The sensor model function
90 double laser_sensor_model(laser_t *sensor, pf_vector_t pose);
91 
92 
93 #ifdef __cplusplus
94 }
95 #endif
96 
97 #endif
98 
Definition: laser.h:44
Definition: laser.h:52
Definition: localization/amcl/map/map.h:67
Definition: pf_vector.h:42