localize.hh
#define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP
Request/reply subtype: subscribe to group.
Definition: player_interfaces.h:5237
Definition: robot_location.hh:31
void SetRobotPose(double x, double y, double angle)
Initialize robot map pose, and reset odometry to zero.
Definition: localize.cc:49
uint32_t timestamp_usec
Time of entry creation.
Definition: player.h:285
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:158
void SetLaserPose(double x, double y, double a)
Update laser pose (limited to x, y ,a for now, though) m m rad.
Definition: localize.cc:44
#define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY
Request/reply subtype: unsubscribe from key.
Definition: player_interfaces.h:5231
void SetRobotPoseError(double ex, double ey, double eth)
Initial pose error.
Definition: localize.cc:61
Definition: localize.hh:29
#define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY
Request/reply subtype: subscribe to key.
Definition: player_interfaces.h:5228
void SetPoses(double ox, double oy, double oth, double gx, double gy, double gth)
Inform the current odometric and global (map) pose.
Definition: robot_location.cc:40
Definition: types.hh:42
uint32_t robot
The "robot" or device collection in which the device resides.
Definition: player.h:150
Definition: types.hh:29
uint32_t group_count
Second identifier count.
Definition: player.h:271
Localize(double laser_max_range, double laser_pose_x, double laser_pose_y, double laser_pose_angle, double laser_noise_range, double laser_noise_bearing, double odom_noise_x, double odom_noise_y, double odom_noise_angle)
Initialize parameters.
Definition: localize.cc:26
#define PLAYER_BLACKBOARD_DATA_UPDATE
Data update reply.
Definition: player_interfaces.h:5246
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:111
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition: scan.hh:30
#define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP
Request/reply subtype: unsubscribe from group.
Definition: player_interfaces.h:5240
bool Update(double robot_x, double robot_y, double robot_angle, DoublesVector ranges, DoublesVector bearings)
Compute actualization from robot accumulated odometry and laser reading Returns true if the update wa...
Definition: localize.cc:93
#define PLAYER_CAPABILITIES_REQ
Capability request message type.
Definition: player.h:396
void SetPoses(double ox, double oy, double oth, double gx, double gy, double gth)
Initialize both odometry (if it is not zero) and global (map) pose.
Definition: localize.cc:54
void SetLastScan(const DoublesVector &ranges, const DoublesVector &bearings)
Set last laser reading Removes out of range values and attaches the uncertainty model.
Definition: scan.cc:87
void SetCurrentError(double ex, double ey, double eth)
Inform the error for the initial pose Robot is expected to be at x +/- (ex/2)
Definition: robot_location.cc:51
uint32_t timestamp_sec
Time of entry creation.
Definition: player.h:283
struct player_blackboard_entry player_blackboard_entry_t
Vectormap feature data.
#define PLAYER_BLACKBOARD_REQ_SET_ENTRY
Request/reply subtype: set entry.
Definition: player_interfaces.h:5234
Definition: gridmap.h:111
int entries
Total number of entries in the device table using this driver.
Definition: driver.h:272
void SetLaserPose(double x, double y, double a)
Update laser pose.
Definition: scan.cc:41
player_devaddr_t addr
Device to which this message pertains.
Definition: player.h:163
uint16_t interf
The interface provided by the device; must be one of PLAYER_*_CODE.
Definition: player.h:152
Definition: transf.hh:36
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:75
#define PLAYER_BLACKBOARD_REQ_GET_ENTRY
Request/reply subtype: get a value.
Definition: player_interfaces.h:5243
Definition: segment_map.hh:29