amcl.h
double cov[6]
The covariance matrix pose estimate (lower half, symmetric matrix) (cov(xx) in m$^2$,...
Definition: player_interfaces.h:2342
Definition: amcl_sensor.h:43
Definition: amcl.h:54
virtual void Publish(player_devaddr_t addr, QueuePointer &queue, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true)
Publish a message via one of this driver's interfaces.
Definition: amcl_fiducial.h:61
Definition: pf_vector.h:40
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:158
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
Definition: amcl_sensor.h:105
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition: amcl.cc:717
uint32_t pending_count
The number of pending (unprocessed observations)
Definition: player_interfaces.h:2354
Definition: amcl.h:70
player_pose2d_t mean
The mean value of the pose estimate (m, m, rad).
Definition: player_interfaces.h:2338
double ReadTupleLength(int section, const char *name, int index, double value)
Read a length from a tuple (includes units conversion)
player_pose2d_t mean
The best (?) pose (mm, mm, arc-seconds).
Definition: player_interfaces.h:2395
Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS)
Definition: player_interfaces.h:2351
Definition: pf.h:92
uint32_t hypoths_count
The number of pose hypotheses.
Definition: player_interfaces.h:2358
player_localize_hypoth_t * hypoths
The array of the hypotheses.
Definition: player_interfaces.h:2360
player_pose2d_t pose
The particle's pose (m,m,rad)
Definition: player_interfaces.h:2382
Definition: pf.h:109
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:111
double alpha
The weight coefficient for linear combination (alpha)
Definition: player_interfaces.h:2384
uint32_t particles_count
The number of particles included.
Definition: player_interfaces.h:2399
#define PLAYER_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
double alpha
The weight coefficient for linear combination (alpha)
Definition: player_interfaces.h:2344
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: amcl.cc:508
#define PLAYER_LOCALIZE_DATA_HYPOTHS
Data subtype: pose hypotheses.
Definition: player_interfaces.h:2320
double ReadTupleAngle(int section, const char *name, int index, double value)
Read an angle form a tuple (includes units conversion)
#define PLAYER_LOCALIZE_REQ_SET_POSE
Request/reply subtype: set pose hypothesis.
Definition: player_interfaces.h:2323
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
#define PLAYER_LOCALIZE_REQ_GET_PARTICLES
Request/reply subtype: get particle set.
Definition: player_interfaces.h:2326
#define PLAYER_CAPABILITIES_REQ
Capability request message type.
Definition: player.h:396
Definition: pf.h:61
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition: amcl.cc:1092
Definition: amcl_odom.h:37
player_pose2d_t mean
The mean value of the pose estimate (m, m, rad).
Definition: player_interfaces.h:2370
player_devaddr_t device_addr
Default device address (single-interface drivers)
Definition: driver.h:268
double pending_time
The time stamp of the last observation processed.
Definition: player_interfaces.h:2356
player_localize_particle_t * particles
The particles.
Definition: player_interfaces.h:2401
#define PLAYER_POSITION2D_DATA_STATE
Data: state (PLAYER_POSITION2D_DATA_STATE)
Definition: player_interfaces.h:568
Request/reply: Set the robot pose estimate.
Definition: player_interfaces.h:2367
double variance
The variance of the best (?) pose (mm^2)
Definition: player_interfaces.h:2397
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
Definition: pf_vector.h:47
double cov[6]
The diagonal elements of the covariance matrix pose estimate (variance) and the (symmetric) covarianc...
Definition: player_interfaces.h:2375
player_bbox3d_t size
Dimensions of the base (m).
Definition: player_interfaces.h:660
Definition: amcl_odom.h:48
Definition: amcl_laser.h:50