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00001 #ifndef _AFS_MOTION_RESAMPLE_H_ 00002 #define _AFS_MOTION_RESAMPLE_H_ 00003 00004 /* 00005 * Motion resampling code for AIBO FastSLAM 00006 */ 00007 00008 #include "afsParticle.h" 00009 00010 #ifdef __cplusplus 00011 extern "C" { 00012 #endif 00013 00014 /* Probabilistically updates the location of afsParticle p based on an 00015 * ad-hoc motion model for the Aibo. dx, dy, and da are the velocities 00016 * sent to the WalkMC object and time is the duration of time 00017 * (in milliseconds) that they were executed. */ 00018 void afsMotionResample(afsParticle *p, 00019 double dx, double dy, double da, unsigned int time); 00020 00021 #ifdef __cplusplus 00022 } 00023 #endif 00024 #endif
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