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  * 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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_*/

Last updated 12 September 2005 21:38:45