localize
[Interface specifications]

Detailed Description

Multi-hypothesis planar localization system.

The localize interface provides pose information for the robot. Generally speaking, localization drivers will estimate the pose of the robot by comparing observed sensor readings against a pre-defined map of the environment. See, for the example, the amcl driver, which implements a probabilistic Monte-Carlo localization algorithm.


#define	PLAYER_LOCALIZE_MAX_HYPOTHS 10
	The maximum number of pose hypotheses.
#define	PLAYER_LOCALIZE_PARTICLES_MAX 100
	The maximum number of particles (for particle-based localization algorithms).
#define	PLAYER_LOCALIZE_DATA_HYPOTHS 1
	Data subtype: pose hypotheses.
#define	PLAYER_LOCALIZE_REQ_SET_POSE 1
	Request/reply subtype: set pose hypothesis.
#define	PLAYER_LOCALIZE_REQ_GET_PARTICLES 2
	Request/reply subtype: get particle set.
typedef struct player_localize_hypoth	player_localize_hypoth_t
	The maximum number of pose hypotheses.
typedef struct player_localize_data	player_localize_data_t
	The maximum number of pose hypotheses.
typedef struct player_localize_set_pose	player_localize_set_pose_t
	The maximum number of pose hypotheses.
typedef struct player_localize_particle	player_localize_particle_t
	The maximum number of pose hypotheses.
typedef struct player_localize_get_particles	player_localize_get_particles_t
	The maximum number of pose hypotheses.