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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef __LOCALIZER__</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define __LOCALIZER__</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> </div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "core/basic_type.hpp"</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <vector></span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> </div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="keyword">namespace </span><a class="code" href="namespacedg.html">dg</a></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> {</div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> </div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classdg_1_1_localizer.html"> 10</a></span> <span class="keyword">class </span><a class="code" href="classdg_1_1_localizer.html">Localizer</a></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> {</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keyword">virtual</span> ~<a class="code" href="classdg_1_1_localizer.html">Localizer</a>() { }</div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> applyPose(<span class="keyword">const</span> <a class="code" href="classdg_1_1_pose2.html">Pose2</a>& pose, Timestamp time = -1) = 0;</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> applyPosition(<span class="keyword">const</span> Point2& xy, Timestamp time = -1) = 0;</div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> applyOrientation(<span class="keywordtype">double</span> theta, Timestamp time = -1) = 0;</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> applyOdometry(<span class="keyword">const</span> <a class="code" href="classdg_1_1_pose2.html">Pose2</a>& pose_curr, <span class="keyword">const</span> <a class="code" href="classdg_1_1_pose2.html">Pose2</a>& pose_prev, Timestamp time_curr = -1, Timestamp time_prev = -1) = 0;</div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> applyOdometry(<span class="keywordtype">double</span> theta_curr, <span class="keywordtype">double</span> theta_prev, Timestamp time_curr = -1, Timestamp time_prev = -1) = 0;</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> </div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> applyOdometry(<span class="keyword">const</span> <a class="code" href="classdg_1_1_polar2.html">Polar2</a>& delta, Timestamp time = -1) = 0;</div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> applyLocClue(<span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keyword">const</span> <a class="code" href="classdg_1_1_polar2.html">Polar2</a>& obs = <a class="code" href="classdg_1_1_polar2.html">Polar2</a>(-1, CV_PI), Timestamp time = -1) = 0;</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> </div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> applyLocClue(<span class="keyword">const</span> std::vector<int>& ids, <span class="keyword">const</span> std::vector<Polar2>& obs, Timestamp time = -1) = 0;</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> };</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classdg_1_1_metric_localizer.html"> 32</a></span> <span class="keyword">class </span><a class="code" href="classdg_1_1_metric_localizer.html">MetricLocalizer</a></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> {</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keyword">virtual</span> <a class="code" href="classdg_1_1_pose2.html">Pose2</a> getPose() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> };</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classdg_1_1_topometric_localizer.html"> 38</a></span> <span class="keyword">class </span><a class="code" href="classdg_1_1_topometric_localizer.html">TopometricLocalizer</a> : <span class="keyword">public</span> <a class="code" href="classdg_1_1_metric_localizer.html">MetricLocalizer</a></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> {</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">virtual</span> <a class="code" href="classdg_1_1_topometric_pose.html">TopometricPose</a> getPoseTopometric() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> };</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> } <span class="comment">// End of 'dg'</span></div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#endif // End of '__LOCALIZER__'</span></div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div><div class="ttc" id="namespacedg_html"><div class="ttname"><a href="namespacedg.html">dg</a></div><div class="ttdef"><b>Definition:</b> basic_type.hpp:6</div></div>
<div class="ttc" id="classdg_1_1_topometric_pose_html"><div class="ttname"><a href="classdg_1_1_topometric_pose.html">dg::TopometricPose</a></div><div class="ttdoc">Robot pose on topological maps. </div><div class="ttdef"><b>Definition:</b> basic_type.hpp:269</div></div>
<div class="ttc" id="classdg_1_1_polar2_html"><div class="ttname"><a href="classdg_1_1_polar2.html">dg::Polar2</a></div><div class="ttdoc">2D vector in the polar coordinate </div><div class="ttdef"><b>Definition:</b> basic_type.hpp:36</div></div>
<div class="ttc" id="classdg_1_1_pose2_html"><div class="ttname"><a href="classdg_1_1_pose2.html">dg::Pose2</a></div><div class="ttdoc">2D pose </div><div class="ttdef"><b>Definition:</b> basic_type.hpp:127</div></div>
<div class="ttc" id="classdg_1_1_topometric_localizer_html"><div class="ttname"><a href="classdg_1_1_topometric_localizer.html">dg::TopometricLocalizer</a></div><div class="ttdef"><b>Definition:</b> localizer.hpp:38</div></div>
<div class="ttc" id="classdg_1_1_metric_localizer_html"><div class="ttname"><a href="classdg_1_1_metric_localizer.html">dg::MetricLocalizer</a></div><div class="ttdef"><b>Definition:</b> localizer.hpp:32</div></div>
<div class="ttc" id="classdg_1_1_localizer_html"><div class="ttname"><a href="classdg_1_1_localizer.html">dg::Localizer</a></div><div class="ttdef"><b>Definition:</b> localizer.hpp:10</div></div>
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