/
amcl_odom.h
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/
amcl_odom.h
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/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000 Brian Gerkey et al.
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
///////////////////////////////////////////////////////////////////////////
//
// Desc: Odometry sensor model for AMCL
// Author: Andrew Howard
// Date: 17 Aug 2003
// CVS: $Id: amcl_odom.h 4135 2007-08-23 19:58:48Z gerkey $
//
///////////////////////////////////////////////////////////////////////////
#ifndef AMCL_ODOM_H
#define AMCL_ODOM_H
#include "amcl_sensor.h"
#include "../pf/pf_pdf.h"
namespace amcl
{
typedef enum
{
ODOM_MODEL_DIFF,
ODOM_MODEL_OMNI,
ODOM_MODEL_DIFF_CORRECTED,
ODOM_MODEL_OMNI_CORRECTED
} odom_model_t;
// Odometric sensor data
class AMCLOdomData : public AMCLSensorData
{
// Odometric pose
public: pf_vector_t pose;
// Change in odometric pose
public: pf_vector_t delta;
};
// Odometric sensor model
class AMCLOdom : public AMCLSensor
{
// Default constructor
public: AMCLOdom();
public: void SetModelDiff(double alpha1,
double alpha2,
double alpha3,
double alpha4);
public: void SetModelOmni(double alpha1,
double alpha2,
double alpha3,
double alpha4,
double alpha5);
public: void SetModel( odom_model_t type,
double alpha1,
double alpha2,
double alpha3,
double alpha4,
double alpha5 = 0 );
// Update the filter based on the action model. Returns true if the filter
// has been updated.
public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data);
// Current data timestamp
private: double time;
// Model type
private: odom_model_t model_type;
// Drift parameters
private: double alpha1, alpha2, alpha3, alpha4, alpha5;
};
}
#endif