amcl_gps.h
1 /*
2  * Player - One Hell of a Robot Server
3  * Copyright (C) 2000 Brian Gerkey et al.
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 Free Software
17  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
18  *
19  */
21 //
22 // Desc: GPS sensor model for AMCL
23 // Author: Andrew Howard
24 // Date: 17 Aug 2003
25 // CVS: $Id$
26 //
28 
29 #ifndef AMCL_GPS_H
30 #define AMCL_GPS_H
31 
32 #include "amcl_sensor.h"
33 #include "models/gps.h"
34 
35 // Gpsetric sensor model
36 class AMCLGps : public AMCLSensor
37 {
38  // Default constructor
39  public: AMCLGps();
40 
41  // Load the model
42  public: virtual int Load(ConfigFile* cf, int section);
43 
44  // Unload the model
45  public: virtual int Unload(void);
46 
47  // Initialize the model
48  public: virtual int Setup(void);
49 
50  // Finalize the model
51  public: virtual int Shutdown(void);
52 
53  // Check for new sensor measurements
54  private: virtual bool GetData(void);
55 
56  // Initialize the filter based on the sensor model. Returns true if the
57  // filter has been initialized.
58  public: virtual bool InitSensor(pf_t *pf, pf_vector_t mean, pf_matrix_t cov);
59 
60  // Update the filter based on the sensor model. Returns true if the
61  // filter has been updated.
62  public: virtual bool UpdateSensor(pf_t *pf);
63 
64  // Device info
65  private: int gps_index;
66  private: Driver *device;
67 
68  // Gpsetry sensor/action model
69  private: gps_model_t *model;
70 
71  // Current data timestamp
72  private: uint32_t tsec, tusec;
73 
74  // Current GPS data
75  private: double utm_e, utm_n;
76  private: double err_horz;
77 
78 #ifdef INCLUDE_RTKGUI
79  // Setup the GUI
80  private: virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
81 
82  // Finalize the GUI
83  private: virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
84 
85  // Draw sensor data
86  private: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
87 
88  // GPS figure
89  private: rtk_fig_t *fig;
90 #endif
91 };
92 
93 
94 
95 
96 #endif
Definition: amcl_sensor.h:44
virtual int Subscribe(player_devaddr_t addr)
Subscribe to this driver.
Definition: pf_vector.h:42
Definition: amcl_gps.h:37
double ReadTupleFloat(int section, const char *name, int index, double value)
Read a float (double) from a tuple field.
int ReadInt(int section, const char *name, int value)
Read an integer value.
Definition: pf.h:111
#define PLAYER_WARN2(msg, a, b)
Error message macros.
Definition: error.h:91
Definition: gps.h:41
Class for loading configuration file information.
Definition: configfile.h:197
#define PLAYER_ERROR(msg)
Error message macros.
Definition: error.h:81
Definition: pf_vector.h:49
Base class for all drivers.
Definition: driver.h:109
virtual int Unsubscribe(player_devaddr_t addr)
Unsubscribe from this driver.