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
24 typedef 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();
48  ~LaserModel();
49  LaserModel(mapgrid * * );
50 };
51 #endif /*LASERMODEL_H_*/
player_bbox2d_t fiducial_size
Dimensions of the fiducials in units of (m).
Definition: player_interfaces.h:1721
Definition: mixed/mricp/include/map.h:35
double sw
Width [m].
Definition: player.h:248
#define PLAYER_LASER_DATA_SCAN
Data subtype: scan.
Definition: player_interfaces.h:845
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:159
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
player_fiducial_item_t * fiducials
List of detected fiducials.
Definition: player_interfaces.h:1705
double px
X [m].
Definition: player.h:231
player_pose3d_t pose
Laser pose, in robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:948
Generic message header.
Definition: player.h:161
float max_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:888
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:658
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:664
Encapsulates a device (i.e., a driver bound to an interface)
Definition: device.h:74
Definition: lasermodel.h:29
double pyaw
yaw [rad]
Definition: player.h:241
Definition: lasertransform.h:47
virtual void Main(void)=0
Main method for driver thread.
double ReadAngle(int section, const char *name, double value)
Read an angle (includes unit conversion).
int ReadInt(int section, const char *name, int value)
Read an integer value.
double ReadLength(int section, const char *name, double value)
Read a length (includes unit conversion, if any).
void * GetPayload()
Get pointer to payload.
Definition: message.h:188
#define PLAYER_MSGTYPE_DATA
A data message.
Definition: player.h:95
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:112
uint32_t id
A unique, increasing, ID for the scan.
Definition: player_interfaces.h:902
float * ranges
Range readings [m].
Definition: player_interfaces.h:896
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
static bool MatchDeviceAddress(player_devaddr_t addr1, player_devaddr_t addr2)
Compare two addresses.
Definition: device.h:201
#define PLAYER_MSGTYPE_REQ
A request message.
Definition: player.h:106
#define PLAYER_FIDUCIAL_REQ_GET_GEOM
Info on a single detected fiducial.
Definition: player_interfaces.h:1666
Request/reply: Get geometry.
Definition: player_interfaces.h:1714
#define PLAYER_LASER_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:854
Request/reply: Get geometry.
Definition: player_interfaces.h:945
Info on a single detected fiducial.
Definition: player_interfaces.h:1685
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
player_bbox3d_t size
Size of the detector.
Definition: player_interfaces.h:1719
Class for loading configuration file information.
Definition: configfile.h:196
virtual int Setup()
Initialize the driver.
Definition: driver.h:386
#define PLAYER_CAPABILITIES_REQ
Capability request message type.
Definition: player.h:397
A device address.
Definition: player.h:145
An autopointer for the message queue.
Definition: message.h:73
double py
Y [m].
Definition: player.h:233
uint32_t fiducials_count
The number of detected fiducials.
Definition: player_interfaces.h:1703
Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN)
Definition: player_interfaces.h:1700
#define PLAYER_ERROR(msg)
Error message macros.
Definition: error.h:81
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:886
#define PLAYER_FIDUCIAL_DATA_SCAN
Info on a single detected fiducial.
Definition: player_interfaces.h:1663
Base class for drivers which oeprate with a thread.
Definition: driver.h:552
float max_range
Maximum range [m].
Definition: player_interfaces.h:892
double timestamp
Time associated with message contents (seconds since epoch)
Definition: player.h:170
player_pose3d_t pose
Fiducial pose relative to the detector.
Definition: player_interfaces.h:1691
double sl
Length [m].
Definition: player.h:250
player_bbox3d_t size
Laser dimensions (m, m, m).
Definition: player_interfaces.h:950
Reference-counted message objects.
Definition: message.h:132
int32_t id
The fiducial id.
Definition: player_interfaces.h:1689
#define PLAYER_WARN(msg)
Warning message macros.
Definition: error.h:89
virtual int Shutdown()
Finalize the driver.
Definition: driver.h:393
Base class for all drivers.
Definition: driver.h:108
uint32_t intensity_count
Number of intensity readings.
Definition: player_interfaces.h:898
#define PLAYER_MSG0(level, msg)
General messages.
Definition: error.h:105
player_pose3d_t pose
Pose of the detector in the robot cs.
Definition: player_interfaces.h:1717
#define PLAYER_MSG2(level, msg, a, b)
Error message macros.
Definition: error.h:107
float resolution
Angular resolution [rad].
Definition: player_interfaces.h:890
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:894
Data: scan (PLAYER_LASER_DATA_SCAN)
Definition: player_interfaces.h:883
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:76
T max(T a, T b)
Return the maximum of a, b.
Definition: utility.h:126
Definition: laser.h:43
uint8_t * intensity
Intensity readings.
Definition: player_interfaces.h:900