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java.lang.Objectjavaclient.PlayerDevice
javaclient.LocalizeInterface
public class LocalizeInterface
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.
This interface accepts no commands.
Field Summary | |
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protected short |
PLAYER_LOCALIZE_GET_CONFIG_REQ
|
short |
PLAYER_LOCALIZE_MAX_HYPOTHS
the maximum number of pose hypotheses |
protected short |
PLAYER_LOCALIZE_SET_CONFIG_REQ
|
protected short |
PLAYER_LOCALIZE_SET_POSE_REQ
|
Fields inherited from class javaclient.PlayerDevice |
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device, DIFFERENCE_SYNCH_FACTOR, index, is, os, pc, PLAYER_MAX_REQREP_SIZE, PLAYER_STXX, reserved, size, t_sec, t_usec, ts_sec, ts_usec |
Constructor Summary | |
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LocalizeInterface(PlayerClient pc,
short indexOfDevice)
Constructor for LocalizeInterface. |
Method Summary | |
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void |
getConfiguration()
Configuration request: Get configuration. |
int |
getHypothCount()
Returns the number of hypotheses. |
PlayerLocalizeConfigT |
getPLCT()
Get the configuration data. |
void |
handleResponse(int size)
Handle acknowledgement response messages (threaded mode). |
boolean |
isPLCTReady()
Check if configuration data is available. |
void |
readData()
Read an array of hypotheses. |
void |
setConfiguration(int numParticles)
Configuration request: Set configuration. |
void |
setPose(int[] mean,
long[][] cov)
Configuration request: Set the robot pose estimate. |
Methods inherited from class javaclient.PlayerDevice |
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getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, handleEARMessage, handleNARMessage, readHeader, sendHeader |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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public final short PLAYER_LOCALIZE_MAX_HYPOTHS
protected final short PLAYER_LOCALIZE_SET_POSE_REQ
protected final short PLAYER_LOCALIZE_GET_CONFIG_REQ
protected final short PLAYER_LOCALIZE_SET_CONFIG_REQ
Constructor Detail |
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public LocalizeInterface(PlayerClient pc, short indexOfDevice)
pc
- a reference to the PlayerClient objectindexOfDevice
- the index of the deviceMethod Detail |
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public int getHypothCount()
public void readData()
readData
in class PlayerDevice
public void setPose(int[] mean, long[][] cov)
mean
- the mean value of the pose estimate (mm, mm, arc-seconds)cov
- the covariance matrix pose estimate (mm$^2$, arc-seconds$^2$)public void getConfiguration()
public void setConfiguration(int numParticles)
numParticles
- maximum number of particles (for drivers using particle filters)public void handleResponse(int size)
handleResponse
in class PlayerDevice
size
- size of the payloadpublic boolean isPLCTReady()
public PlayerLocalizeConfigT getPLCT()
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