Robot Agent
1.0
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#include "robot.h"
Go to the source code of this file.
Data Structures | |
struct | s_PF_STRUCT |
Particle filter structure. More... | |
Typedefs | |
typedef struct s_PF_STRUCT | pf_t |
Particle filter structure. More... | |
Functions | |
pf_t * | pf_init (int num, enviroment_t *envs, int move_noise, float turn_noise, int sense_tag_noise, int sense_wall_noise, int radius) |
void | pf_destroy (pf_t *pfs) |
void | pf_drive (pf_t *pfs, int distance, int angle, int uncertain) |
void | pf_weight_tag (pf_t *pfs, enviroment_t *envs, int tag_num) |
void | pf_weight_wall (pf_t *pfs, enviroment_t *envs) |
void | pf_resample (pf_t *pfs) |
void | pf_estimate (pf_t *pfs, robot_t *robot) |
void | pf_random (pf_t *pfs, enviroment_t *envs, int tag_num) |
int | pf_accuracy (pf_t *pfs, enviroment_t *envs) |
typedef struct s_PF_STRUCT pf_t |
Particle filter structure.
int pf_accuracy | ( | pf_t * | pfs, |
enviroment_t * | envs | ||
) |
void pf_destroy | ( | pf_t * | pfs | ) |
void pf_drive | ( | pf_t * | pfs, |
int | distance, | ||
int | angle, | ||
int | uncertain | ||
) |
pf_t* pf_init | ( | int | num, |
enviroment_t * | envs, | ||
int | move_noise, | ||
float | turn_noise, | ||
int | sense_tag_noise, | ||
int | sense_wall_noise, | ||
int | radius | ||
) |
Initialize particle filter
num | Number of particles |
envs | Pointer to enviroment structure |
move_noise | Error created during forward or backward motion (mm) |
turn_noise | Error created during turning (Radians) |
sense_tag_noise | Error of tag read (mm) |
sense_wall_noise | Error of wall read (mm) |
radius | Particle radius - should be same as robot (mm) |
void pf_random | ( | pf_t * | pfs, |
enviroment_t * | envs, | ||
int | tag_num | ||
) |
void pf_resample | ( | pf_t * | pfs | ) |
void pf_weight_tag | ( | pf_t * | pfs, |
enviroment_t * | envs, | ||
int | tag_num | ||
) |
void pf_weight_wall | ( | pf_t * | pfs, |
enviroment_t * | envs | ||
) |