imu.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 model for IMU.
23  * Author: Andrew Howard
24  * Date: 8 Aug 2003
25  * CVS: $Id$
26  *************************************************************************/
27 
28 #ifndef IMU_H
29 #define IMU_H
30 
31 #include "../pf/pf.h"
32 #include "../pf/pf_pdf.h"
33 
34 #ifdef __cplusplus
35 extern "C" {
36 #endif
37 
38 
39 // Model information
40 typedef struct
41 {
42  // UTM heading
43  double utm_head;
44 
45  // Expected bearing error
46  double err_head;
47 
48 } imu_model_t;
49 
50 
51 // Create an sensor model
52 imu_model_t *imu_alloc();
53 
54 // Free an sensor model
55 void imu_free(imu_model_t *sensor);
56 
57 // Set the observed heading (utm)
58 void imu_set_utm(imu_model_t *self, double utm_head);
59 
60 // The sensor model function
61 double imu_sensor_model(imu_model_t *self, pf_vector_t pose);
62 
63 #ifdef __cplusplus
64 }
65 #endif
66 
67 #endif
68 
#define PLAYER_DIO_CMD_VALUES
Data: input values (PLAYER_DIO_DATA_VALUES)
Definition: player_interfaces.h:1987
Definition: imu.h:39
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.
int AddInterface(player_devaddr_t addr)
Add an interface.
Generic message header.
Definition: player.h:160
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:657
uint32_t compression
Image compression; PLAYER_CAMERA_COMPRESS_RAW indicates no compression.
Definition: player_interfaces.h:2966
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:663
uint32_t width
Image dimensions [pixels].
Definition: player_interfaces.h:2953
#define PLAYER_CAMERA_FORMAT_RGB888
Image format : 24-bit color (8 bits R, 8 bits G, 8 bits B).
Definition: player_interfaces.h:2942
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:165
Encapsulates a device (i.e., a driver bound to an interface)
Definition: device.h:73
const char * ReadString(int section, const char *name, const char *value)
Read a string value.
uint32_t fdiv
Some images (such as disparity maps) use scaled pixel values; for these images, fdiv specifies the sc...
Definition: player_interfaces.h:2963
uint8_t subtype
Message subtype; interface specific.
Definition: player.h:167
virtual void Main(void)=0
Main method for driver thread.
uint32_t image_count
Size of image data as stored in image buffer (bytes)
Definition: player_interfaces.h:2968
int ReadInt(int section, const char *name, int value)
Read an integer value.
void * GetPayload()
Get pointer to payload.
Definition: message.h:187
#define PLAYER_MSGTYPE_DATA
A data message.
Definition: player.h:94
#define PLAYER_CAMERA_FORMAT_MONO16
Image format : 16-bit monochrome (network byte order).
Definition: player_interfaces.h:2938
uint32_t digout
output bitfield
Definition: player_interfaces.h:2011
Definition: camera.h:142
#define PLAYER_CAMERA_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:2922
uint8_t * image
Compressed image data (byte-aligned, row major order).
Definition: player_interfaces.h:2972
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
static bool MatchDeviceAddress(player_devaddr_t addr1, player_devaddr_t addr2)
Compare two addresses.
Definition: device.h:200
#define PLAYER_MSGTYPE_REQ
A request message.
Definition: player.h:105
Integer property class.
Definition: property.h:113
Command: output values (PLAYER_DIO_CMD_VALUES)
Definition: player_interfaces.h:2006
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
Data: state (PLAYER_CAMERA_DATA_STATE)
Definition: player_interfaces.h:2950
Data: input values (PLAYER_DIO_DATA_VALUES)
Definition: player_interfaces.h:1994
Class for loading configuration file information.
Definition: configfile.h:195
A device address.
Definition: player.h:144
An autopointer for the message queue.
Definition: message.h:72
uint32_t format
Image format (must be compatible with depth).
Definition: player_interfaces.h:2959
Double property class.
Definition: property.h:141
uint32_t bits
bitfield of samples
Definition: player_interfaces.h:1999
void SetError(int code)
Set/reset error code.
Definition: driver.h:144
#define PLAYER_ERROR1(msg, a)
Error message macros.
Definition: error.h:81
uint32_t count
the command
Definition: player_interfaces.h:2009
virtual bool RegisterProperty(const char *key, Property *property, ConfigFile *cf, int section)
Property registration.
#define PLAYER_CAMERA_COMPRESS_RAW
Compression method: raw.
Definition: player_interfaces.h:2945
#define PLAYER_ERROR(msg)
Error message macros.
Definition: error.h:80
Base class for drivers which oeprate with a thread.
Definition: driver.h:551
#define PLAYER_CAMERA_FORMAT_MONO8
Image format : 8-bit monochrome.
Definition: player_interfaces.h:2936
double timestamp
Time associated with message contents (seconds since epoch)
Definition: player.h:169
Reference-counted message objects.
Definition: message.h:131
#define PLAYER_WARN(msg)
Warning message macros.
Definition: error.h:88
#define PLAYER_MSGTYPE_CMD
A command message.
Definition: player.h:98
uint32_t count
number of samples
Definition: player_interfaces.h:1997
#define PLAYER_DIO_DATA_VALUES
Data: input values (PLAYER_DIO_DATA_VALUES)
Definition: player_interfaces.h:1984
Base class for all drivers.
Definition: driver.h:107
uint32_t height
Image dimensions [pixels].
Definition: player_interfaces.h:2955
player_msghdr_t * GetHeader()
Get pointer to header.
Definition: message.h:185
player_devaddr_t addr
Device to which this message pertains.
Definition: player.h:163
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:75
#define PLAYER_CAMERA_COMPRESS_JPEG
Compression method: jpeg.
Definition: player_interfaces.h:2947
uint32_t bpp
Image bits-per-pixel (8, 16, 24, 32).
Definition: player_interfaces.h:2957