37#include "../pf/pf_pdf.h"
38#include "amcl_sensor.h"
44typedef enum { ODOM_MODEL_DIFF, ODOM_MODEL_OMNI } odom_model_t;
47class AMCLOdomData :
public AMCLSensorData
59class AMCLOdom :
public AMCLSensor
66 void SetModelDiff(
double alpha1,
double alpha2,
double alpha3,
double alpha4);
69 void SetModelOmni(
double alpha1,
double alpha2,
double alpha3,
double alpha4,
double alpha5);
74 virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data);
82 odom_model_t model_type;
86 double alpha1, alpha2, alpha3, alpha4, alpha5;