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afsTriangulator.h

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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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