wifi.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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
19  *
20  */
21 /**************************************************************************
22  * Desc: Sensor models for wifi.
23  * Author: Andrew Howard
24  * Date: 30 May 2003
25  * CVS: $Id$
26  *************************************************************************/
27 
28 #ifndef WIFI_H
29 #define WIFI_H
30 
31 #include "../pf/pf.h"
32 #include "../pf/pf_pdf.h"
33 #include "../map/map.h"
34 
35 #ifdef __cplusplus
36 extern "C" {
37 #endif
38 
39 
40 // Model information
41 typedef struct
42 {
43  // Pointer to the map map
44  map_t *map;
45 
46  // Observed levels
47  int level_count;
48  int levels[MAP_WIFI_MAX_LEVELS];
49 
50 } wifi_t;
51 
52 
53 // Create an sensor model
54 wifi_t *wifi_alloc(map_t *map);
55 
56 // Free an sensor model
57 void wifi_free(wifi_t *sensor);
58 
59 // Set the observed wifi levels
60 void wifi_set_levels(wifi_t *self, int level_count, int levels[]);
61 
62 // The sensor model function
63 double wifi_sensor_model(wifi_t *self, pf_vector_t pose);
64 
65 #ifdef __cplusplus
66 }
67 #endif
68 
69 #endif
70 
Definition: pf_vector.h:42
Definition: wifi.h:42
Definition: localization/amcl/map/map.h:67