afsMotionResample.h Source File

00001 #ifndef _AFS_MOTION_RESAMPLE_H_
00002 #define _AFS_MOTION_RESAMPLE_H_
00003 
00004 /*
00005  * Motion resampling code for AIBO FastSLAM
00006  */
00007 
00008 #include "afsParticle.h"
00009 
00010 #ifdef __cplusplus
00011 extern "C" {
00012 #endif
00013 
00014 /* Probabilistically updates the location of afsParticle p based on an
00015  * ad-hoc motion model for the Aibo. dx, dy, and da are the velocities
00016  * sent to the WalkMC object and time is the duration of time
00017  * (in milliseconds) that they were executed. */
00018 void afsMotionResample(afsParticle *p,
00019       double dx, double dy, double da, unsigned int time);
00020 
00021 #ifdef __cplusplus
00022 }
00023 #endif
00024 #endif