Public Member Functions | Private Member Functions | Private Attributes | List of all members
PlayerCc::LocalizeProxy Class Reference

The LocalizeProxy class is used to control a localize device, which can provide multiple pose hypotheses for a robot. More...

#include <playerc++.h>

Inheritance diagram for PlayerCc::LocalizeProxy:
Inheritance graph
Collaboration diagram for PlayerCc::LocalizeProxy:
Collaboration graph

Public Member Functions

 LocalizeProxy (PlayerClient *aPc, uint32_t aIndex=0)
 constructor
 
 ~LocalizeProxy ()
 destructor
 
uint32_t GetMapSizeX () const
 Map dimensions (cells)
 
uint32_t GetMapSizeY () const
 
uint32_t GetMapTileX () const
 
uint32_t GetMapTileY () const
 
double GetMapScale () const
 Map scale (m/cell)
 
uint32_t GetPendingCount () const
 Number of pending (unprocessed) sensor readings.
 
uint32_t GetHypothCount () const
 Number of possible poses.
 
player_localize_hypoth_t GetHypoth (uint32_t aIndex) const
 Array of possible poses.
 
int GetParticles ()
 Get the particle set.
 
player_pose2d_t GetParticlePose (int index) const
 Get the Pose of a particle.
 
void SetPose (double pose[3], double cov[3])
 Set the current pose hypothesis (m, m, radians).
 
uint32_t GetNumHypoths () const
 Get the number of localization hypoths.
 
uint32_t GetNumParticles () const
 Get the number of particles (for particle filter-based localization systems). More...
 
- Public Member Functions inherited from PlayerCc::ClientProxy
bool IsValid () const
 Returns true if we have received any data from the device.
 
bool IsFresh () const
 Fresh is set to true on each new read. More...
 
void NotFresh ()
 This states that the data in a client is currently not Fresh.
 
std::string GetDriverName () const
 Returns the driver name. More...
 
double GetDataTime () const
 Returns the received timestamp [s].
 
double GetElapsedTime () const
 Returns the received timestamp [s].
 
PlayerClientGetPlayerClient () const
 Returns a pointer to the Player Client.
 
uint32_t GetIndex () const
 Returns device index.
 
uint32_t GetInterface () const
 Returns device interface.
 
std::string GetInterfaceStr () const
 Returns device interface.
 
void SetReplaceRule (bool aReplace, int aType=-1, int aSubtype=-1)
 Set a replace rule for this proxy on the server. More...
 
int HasCapability (uint32_t aType, uint32_t aSubtype)
 Request capabilities of device. More...
 
int GetBoolProp (char *aProperty, bool *aValue)
 Request a boolean property.
 
int SetBoolProp (char *aProperty, bool aValue)
 Set a boolean property.
 
int GetIntProp (char *aProperty, int32_t *aValue)
 Request an integer property.
 
int SetIntProp (char *aProperty, int32_t aValue)
 Set an integer property.
 
int GetDblProp (char *aProperty, double *aValue)
 Request a double property.
 
int SetDblProp (char *aProperty, double aValue)
 Set a double property.
 
int GetStrProp (char *aProperty, char **aValue)
 Request a string property.
 
int SetStrProp (char *aProperty, char *aValue)
 Set a string property.
 
template<typename T >
connection_t ConnectReadSignal (T aSubscriber)
 Connect a signal to this proxy For more information check out Signals & multithreading.
 
void DisconnectReadSignal (connection_t aSubscriber)
 Disconnect a signal to this proxy.
 

Private Member Functions

void Subscribe (uint32_t aIndex)
 
void Unsubscribe ()
 

Private Attributes

playerc_localize_tmDevice
 

Additional Inherited Members

- Public Types inherited from PlayerCc::ClientProxy
typedef int connection_t
 
typedef boost::mutex::scoped_lock scoped_lock_t
 
typedef int read_signal_t
 
- Protected Member Functions inherited from PlayerCc::ClientProxy
 ClientProxy (PlayerClient *aPc, uint32_t aIndex)
 
template<typename T >
GetVar (const T &aV) const
 
template<typename T >
void GetVarByRef (const T aBegin, const T aEnd, T aDest) const
 
- Protected Attributes inherited from PlayerCc::ClientProxy
PlayerClientmPc
 
playerc_client_tmClient
 
playerc_device_tmInfo
 
bool mFresh
 

Detailed Description

The LocalizeProxy class is used to control a localize device, which can provide multiple pose hypotheses for a robot.

Member Function Documentation

uint32_t PlayerCc::LocalizeProxy::GetNumParticles ( ) const
inline

Get the number of particles (for particle filter-based localization systems).

Returns the number of particles.


The documentation for this class was generated from the following file:

Last updated 12 September 2005 21:38:45