localizecore.h File Reference

Library for Monto-Carlo localization. More...

#include <carmen/map.h>
#include "localize_motion.h"
#include "likelihood_map.h"

Go to the source code of this file.

Data Structures
struct	carmen_localize_param_t
struct	carmen_localize_particle_t
struct	carmen_localize_particle_filter_t
struct	carmen_localize_laser_point_t
struct	carmen_localize_summary_t
Defines
#define	SMALL_PROB   0.01
Typedefs
typedef *	carmen_localize_param_p
typedef *	carmen_localize_particle_p
typedef *	carmen_localize_particle_filter_p
typedef *	carmen_localize_laser_point_p
typedef *	carmen_localize_summary_p
Functions
carmen_localize_particle_filter_p	carmen_localize_particle_filter_new (carmen_localize_param_p param)
void	carmen_localize_initialize_particles_uniform (carmen_localize_particle_filter_p filter, carmen_robot_laser_message *laser, carmen_localize_map_p map)
void	carmen_localize_initialize_particles_gaussians (carmen_localize_particle_filter_p filter, int num_modes, carmen_point_t *mean, carmen_point_t *std)
void	carmen_localize_initialize_particles_gaussian (carmen_localize_particle_filter_p filter, carmen_point_t mean, carmen_point_t std)
void	carmen_localize_initialize_particles_manual (carmen_localize_particle_filter_p filter, double *x, double *y, double *theta, double *weight, int num_particles)
int	carmen_localize_initialize_particles_placename (carmen_localize_particle_filter_p filter, carmen_map_placelist_p placelist, char *placename)
void	carmen_localize_incorporate_odometry (carmen_localize_particle_filter_p filter, carmen_point_t odometry_position)
void	carmen_localize_incorporate_laser (carmen_localize_particle_filter_p filter, carmen_localize_map_p map, int num_readings, float *range, double forward_offset, double angular_resolution, double laser_maxrange, double first_beam_angle, int backwards)
void	carmen_localize_resample (carmen_localize_particle_filter_p filter)
void	carmen_localize_run (carmen_localize_particle_filter_p filter, carmen_localize_map_p map, carmen_robot_laser_message *laser, double forward_offset, int backwards)
void	carmen_localize_laser_scan_gd (int num_readings, float *range, double angular_resolution, double first_beam_angle, carmen_point_p laser_pos, double forward_offset, carmen_localize_map_p map, int laser_skip)
void	carmen_localize_summarize (carmen_localize_particle_filter_p filter, carmen_localize_summary_p summary, carmen_localize_map_p map, int num_readings, float *range, double forward_offset, double angular_resolution, double first_beam_angle, int backwards)

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Detailed Description

Library for Monto-Carlo localization.

This library contains all functions to perform a MCL.

Definition in file localizecore.h.

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