Fawkes API  Fawkes Development Version
amcl_odom.h
1 /***************************************************************************
2  * amcl_odom.h: Odometry sensor model for AMCL
3  *
4  * Created: Thu May 24 18:51:17 2012
5  * Copyright 2000 Brian Gerkey
6  * 2000 Kasper Stoy
7  * 2012 Tim Niemueller [www.niemueller.de]
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 /* From:
24  * Player - One Hell of a Robot Server (LGPL)
25  * Copyright (C) 2000 Brian Gerkey & Kasper Stoy
26  * gerkey@usc.edu kaspers@robotics.usc.edu
27  */
28 ///////////////////////////////////////////////////////////////////////////
29 // Desc: Odometry sensor model for AMCL
30 // Author: Andrew Howard
31 // Date: 17 Aug 2003
32 ///////////////////////////////////////////////////////////////////////////
33 
34 #ifndef AMCL_ODOM_H
35 #define AMCL_ODOM_H
36 
37 #include "amcl_sensor.h"
38 #include "../pf/pf_pdf.h"
39 
40 /// @cond EXTERNAL
41 
42 namespace amcl
43 {
44 
45 typedef enum
46 {
47  ODOM_MODEL_DIFF,
48  ODOM_MODEL_OMNI
49 } odom_model_t;
50 
51 // Odometric sensor data
52 class AMCLOdomData : public AMCLSensorData
53 {
54  // Odometric pose
55  public: pf_vector_t pose;
56 
57  // Change in odometric pose
58  public: pf_vector_t delta;
59 };
60 
61 
62 // Odometric sensor model
63 class AMCLOdom : public AMCLSensor
64 {
65  // Default constructor
66  public: AMCLOdom();
67 
68  public: void SetModelDiff(double alpha1,
69  double alpha2,
70  double alpha3,
71  double alpha4);
72 
73  public: void SetModelOmni(double alpha1,
74  double alpha2,
75  double alpha3,
76  double alpha4,
77  double alpha5);
78 
79  // Update the filter based on the action model. Returns true if the filter
80  // has been updated.
81  public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data);
82 
83  // Current data timestamp
84  private: double time;
85 
86  // Model type
87  private: odom_model_t model_type;
88 
89  // Drift parameters
90  private: double alpha1, alpha2, alpha3, alpha4, alpha5;
91 };
92 
93 
94 }
95 
96 /// @endcond
97 
98 #endif