AdaptiveMCL Class Reference
Public Member Functions | |
AdaptiveMCL (ConfigFile *cf, int section) | |
virtual int | Setup (void) |
Initialize the driver. | |
virtual int | Shutdown (void) |
Finalize the driver. | |
void | Push (AMCLSensorData *data) |
virtual int | ProcessMessage (MessageQueue *resp_queue, player_msghdr *hdr, void *data) |
Message handler. | |
virtual void | UpdateSensorData (void) |
Member Function Documentation
int AdaptiveMCL::ProcessMessage | ( | MessageQueue * | resp_queue, | |
player_msghdr * | hdr, | |||
void * | data | |||
) | [virtual] |
Message handler.
This function is called once for each message in the incoming queue. Reimplement it to provide message handling. Return 0 if you handled the message and -1 otherwise
- Parameters:
-
resp_queue The queue to which any response should go. hdr The message header data The message body
Reimplemented from Driver.
References player_localize_particle::alpha, player_localize_set_pose::cov, Driver::device_addr, Message::MatchMessage(), player_localize_get_particles::mean, player_localize_set_pose::mean, player_pose::pa, player_localize_get_particles::particles, player_localize_get_particles::particles_count, PLAYER_ERROR2, PLAYER_LOCALIZE_PARTICLES_MAX, PLAYER_LOCALIZE_REQ_GET_PARTICLES, PLAYER_LOCALIZE_REQ_SET_POSE, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_MSGTYPE_RESP_NACK, PLAYER_POSITION2D_REQ_GET_GEOM, player_localize_particle::pose, Driver::Publish(), player_pose::px, player_pose::py, player_msghdr::size, and player_localize_get_particles::variance.
int AdaptiveMCL::Setup | ( | void | ) | [virtual] |
Initialize the driver.
This function is called with the first client subscribes; it MUST be implemented by the driver.
- Returns:
- Returns 0 on success.
Implements Driver.
References PLAYER_ERROR1, and PLAYER_MSG0.
int AdaptiveMCL::Shutdown | ( | void | ) | [virtual] |
Finalize the driver.
This function is called with the last client unsubscribes; it MUST be implemented by the driver.
- Returns:
- Returns 0 on success.
Implements Driver.
References PLAYER_MSG0, and Driver::StopThread().
The documentation for this class was generated from the following files:
- amcl.h
- amcl.cc