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void | mcSonarInit (void) |
Initializes the localization. | |
void | mcSonarInitRes (int res) |
Initiailizes the localization using a particular grid size. | |
void * | mcGetObject (void) |
Gets an mc object (mostly for use with sfGradSetMap). | |
void | mcSetMove (int da, int ds, int tm) |
Sets the delta angle (da) delta distance (ds) or delta time (tm) before loc fires again. More... | |
void | mcUpdateRobotPose (int on) |
call this with true (non-zero) to make the localization update the robot position. | |
void | mcPrintDuringUpdates (int on) |
If true this will print during localization updates, false it won't. | |
void | mcSetGain (int pct) |
Sets the gain of the sensor information in the update step. More... | |
void | mcSetGauss (float dx, float dth) |
Centers the sample distribution on the center of the robot. More... | |
void | mcSetNumSamples (int n) |
Sets the number of samples. More... |
You can look at/load flloc.act to see how to use this module.
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Sets the gain of the sensor information in the update step.
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Centers the sample distribution on the center of the robot. This centers the sample distribution onto the center of where the robot is. You should probably change the robot position with sfJumpRobotAbs and then call this.
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Sets the delta angle (da) delta distance (ds) or delta time (tm) before loc fires again.
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Sets the number of samples. All sample poses are reset to zero, and mcSetGauss may be called to re-center the sample set on the robot.
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