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 
Definition: imu.h:40
Definition: pf_vector.h:41