gps.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., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
19  *
20  */
21 /**************************************************************************
22  * Desc: Sensor model for GPS.
23  * Author: Andrew Howard
24  * Date: 8 Aug 2003
25  * CVS: $Id: gps.h 1685 2003-08-17 18:51:44Z inspectorg $
26  *************************************************************************/
27 
28 #ifndef GPS_H
29 #define GPS_H
30 
31 #include "../pf/pf.h"
32 #include "../pf/pf_pdf.h"
33 
34 #ifdef __cplusplus
35 extern "C" {
36 #endif
37 
38 
39 // Model information
40 typedef struct
41 {
42  // UTM origin: UTM coord that maps to (0, 0) in global coords
43  double utm_base_e, utm_base_n;
44 
45  // UTM grid coordinates
46  double utm_e, utm_n;
47 
48  // Circular horizontal error
49  double err_horz;
50 
51  // PDF used for initialization
52  pf_pdf_gaussian_t *pdf;
53 
54 } gps_model_t;
55 
56 
57 // Create an sensor model
58 gps_model_t *gps_alloc();
59 
60 // Free an sensor model
61 void gps_free(gps_model_t *sensor);
62 
63 // Set the observed gps coordinates (UTM grid coordinates)
64 void gps_set_utm(gps_model_t *self, double utm_e, double utm_n, double err_horz);
65 
66 // Prepare to initialize the distribution
67 void gps_init_init(gps_model_t *self);
68 
69 // Finish initializing the distribution
70 void gps_init_term(gps_model_t *self);
71 
72 // The sensor initialization function
73 pf_vector_t gps_init_model(gps_model_t *self);
74 
75 // The sensor model function
76 double gps_sensor_model(gps_model_t *self, pf_vector_t pose);
77 
78 #ifdef __cplusplus
79 }
80 #endif
81 
82 #endif
83 
Definition: pf_pdf.h:48
Definition: gps.h:40
Definition: pf_vector.h:41

Last updated 12 September 2005 21:38:45