32 #include "amcl_sensor.h"
34 #include "models/laser.h"
43 public:
int range_count;
44 public:
double range_max;
45 public: double (*ranges)[2];
56 public:
virtual int Load(
ConfigFile* cf,
int section);
59 public:
virtual int Unload(
void);
62 public:
virtual int Setup(
void);
65 public:
virtual int Shutdown(
void);
68 public:
virtual int ProcessMessage(
QueuePointer &resp_queue,
83 private:
int SetupMap(
void);
88 private:
Device *laser_dev;
100 private:
int max_beams;
103 private:
double range_var;
106 private:
double range_bad;
108 #ifdef INCLUDE_RTKGUI
110 private:
virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
113 private:
virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
116 public:
virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig,
AMCLSensorData *data);
119 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
#define PLAYER_MSG3(level, msg, a, b, c)
Error message macros.
Definition: error.h:108
Definition: pf_vector.h:42
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.
Definition: amcl_sensor.h:106
Generic message header.
Definition: player.h:162
int Subscribe(QueuePointer &sub_queue)
Subscribe the given queue to this device.
Encapsulates a device (i.e., a driver bound to an interface)
Definition: device.h:75
Definition: amcl_laser.h:38
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
QueuePointer InQueue
Queue for all incoming messages for this driver.
Definition: driver.h:285
#define PLAYER_MSGTYPE_REQ
A request message.
Definition: player.h:106
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
Class for loading configuration file information.
Definition: configfile.h:197
A device address.
Definition: player.h:146
An autopointer for the message queue.
Definition: message.h:74
#define PLAYER_ERROR(msg)
Error message macros.
Definition: error.h:81
Definition: localization/amcl/map/map.h:67
double timestamp
Time associated with message contents (seconds since epoch)
Definition: player.h:170
Reference-counted message objects.
Definition: message.h:133
Message * Request(QueuePointer &resp_queue, uint8_t type, uint8_t subtype, void *src, size_t deprecated, double *timestamp, bool threaded=true)
Make a request of another device.
#define PLAYER_WARN(msg)
Warning message macros.
Definition: error.h:89
Definition: localization/amcl/map/map.h:52
#define PLAYER_MSG0(level, msg)
General messages.
Definition: error.h:105
int Unsubscribe(QueuePointer &sub_queue)
Unsubscribe the given queue from this device.
uint16_t index
Which device of that interface.
Definition: player.h:155
Definition: amcl_laser.h:51