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];
55 double fiducial_map_calc_range(
AMCLFiducialMap* fmap,
double ox,
double oy,
double oa,
double max_range,
int id,
int k);
56 double 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;
125 #ifdef INCLUDE_RTKGUI
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_sensor.h:44
#define PLAYER_MSG1(level, msg, a)
Error message macros.
Definition: error.h:106
virtual int Subscribe(player_devaddr_t addr)
Subscribe to this driver.
Definition: amcl_fiducial.h:62
Definition: pf_vector.h:42
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
Definition: amcl_sensor.h:106
double ReadTupleLength(int section, const char *name, int index, double value)
Read a length from a tuple (includes units conversion)
const char * ReadFilename(int section, const char *name, const char *value)
Read a filename.
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).
#define PLAYER_ERROR2(msg, a, b)
Error message macros.
Definition: error.h:83
double ReadTupleAngle(int section, const char *name, int index, double value)
Read an angle form a tuple (includes units conversion)
Definition: amcl_fiducial.h:46
Class for loading configuration file information.
Definition: configfile.h:197
A device address.
Definition: player.h:146
#define PLAYER_ERROR1(msg, a)
Error message macros.
Definition: error.h:82
#define PLAYER_ERROR(msg)
Error message macros.
Definition: error.h:81
Definition: localization/amcl/map/map.h:67
Definition: amcl_fiducial.h:38
#define PLAYER_WARN(msg)
Warning message macros.
Definition: error.h:89
Definition: localization/amcl/map/map.h:52
Base class for all drivers.
Definition: driver.h:109
virtual int Unsubscribe(player_devaddr_t addr)
Unsubscribe from this driver.