localize_interface.h

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/*********************************************************
 *
 * This source code is part of the Carnegie Mellon Robot
 * Navigation Toolkit (CARMEN)
 *
 * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas
 * Roy, and Sebastian Thrun
 *
 * CARMEN is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU General Public 
 * License as published by the Free Software Foundation; 
 * either version 2 of the License, or (at your option)
 * any later version.
 *
 * CARMEN 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 General Public License for more 
 * details.
 *
 * You should have received a copy of the GNU General 
 * Public License along with CARMEN; if not, write to the
 * Free Software Foundation, Inc., 59 Temple Place, 
 * Suite 330, Boston, MA  02111-1307 USA
 *
 ********************************************************/


// @{

#ifndef CARMEN_LOCALIZE_INTERFACE_H
#define CARMEN_LOCALIZE_INTERFACE_H

#include "localize_messages.h"

#ifdef __cplusplus
extern "C" {
#endif

void
carmen_localize_subscribe_globalpos_message(carmen_localize_globalpos_message
                                            *globalpos,
                                            carmen_handler_t handler,
                                            carmen_subscribe_t subscribe_how);

void
carmen_localize_unsubscribe_globalpos_message(carmen_handler_t handler);

void 
carmen_localize_subscribe_particle_message(carmen_localize_particle_message 
                                           *particle, carmen_handler_t handler,
                                           carmen_subscribe_t subscribe_how);

void
carmen_localize_unsubscribe_particle_message(carmen_handler_t handler);

void 
carmen_localize_subscribe_initialize_message(carmen_localize_initialize_message *init_msg,
                                             carmen_handler_t handler, 
                                             carmen_subscribe_t subscribe_how);

void
carmen_localize_unsubscribe_initialize_message(carmen_handler_t handler);

void
carmen_localize_subscribe_initialize_placename_message(carmen_localize_initialize_placename_message 
                                                       *initialize,
                                                       carmen_handler_t handler,
                                                       carmen_subscribe_t subscribe_how);

void
carmen_localize_unsubscribe_initialize_placename_message(carmen_handler_t handler);

void 
carmen_localize_subscribe_sensor_message(carmen_localize_sensor_message 
                                         *sensor_msg, carmen_handler_t handler,
                                         carmen_subscribe_t subscribe_how);

void
carmen_localize_unsubscribe_sensor_message(carmen_handler_t handler);

void 
carmen_localize_initialize_gaussian_command(carmen_point_t mean,
                                            carmen_point_t std);

void carmen_localize_initialize_uniform_command(void);

void carmen_localize_initialize_placename_command(char *placename);

void
carmen_localize_correct_odometry(carmen_base_odometry_message *odometry, 
                                 carmen_localize_globalpos_message *globalpos);

void
carmen_localize_correct_laser(carmen_robot_laser_message *laser, 
                              carmen_localize_globalpos_message *globalpos);

int carmen_localize_get_map(int global, carmen_map_t *map);

int carmen_localize_get_globalpos(carmen_localize_globalpos_message **globalpos);

#ifdef __cplusplus
}
#endif

#endif
// @}

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