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00001 #ifndef _AFS_TRIANGULATOR_H_ 00002 #define _AFS_TRIANGULATOR_H_ 00003 00004 /* 00005 * Triangulator code for AIBO FastSLAM. Takes in the locations and 00006 * values of two bearings-only measurements and constructs a Gaussian for 00007 * the probable location of the landmark. 00008 */ 00009 00010 #include "afsParticle.h" 00011 00012 #ifdef __cplusplus 00013 extern "C" { 00014 #endif 00015 00016 /* Given two observation positions and two bearing measurements, this 00017 * routine places a probable location for the observed landmark into 00018 * the structure referenced by landmark (actually a gaussian describing the 00019 * most probable location). Returns true on success and false if there is 00020 * no good location information to be had here (e.g. observations were 00021 * taken too close together or the object is too far off, observations are 00022 * actually parallel lines, etc.). In the event of failure, it can be assumed 00023 * that the data referenced by landmark has not been altered. 00024 * Uses many many arguments just to make calls lots of fun. */ 00025 int afsTriangulator(double x1, double y1, double theta1, 00026 double x2, double y2, double theta2, 00027 afsLandmarkLoc *landmark); 00028 00029 #ifdef __cplusplus 00030 } 00031 #endif 00032 #endif
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