?? mhgpsdr.h
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/****************************************************************************** File Name: MH/MHGPSDR.h Description: Multi-hypothesis map matching Calculate weights with GPS, bearing and odometry distance ******************************************************************************//****************************************************************************** Author: alfred.liushu@gmail.com Upadate: 2008/09/21 File founded Copyright 2008-2009 Robot Lab., Dept.of Automation, Tsinghua University******************************************************************************/#ifndef __MHGPSDR_H__#define __MHGPSDR_H__#include "../MH/MHBase.h"/****************************** Operations of GPS-DR MH matching ***************************************************//*Weighing parameters*/const DATATYPE GPSDev = 10; /*Deviation of GPS distance error measured in meters*/const DATATYPE BearDev = 0.30; /*Deviation of bearing angle error measured in radians*/const DATATYPE DisDev = 0.10; /*Deviation of odometry distance error measured in proportion*/const DATATYPE BearPunishThre = Pi/3; /*Punishment of big bearing error, error threshold*/const DATATYPE BearPunish = -100; /*Punishment of big bearing error, weight punishment*//*GPS-DR multi-hypothesis class*/typedef class MHGPSDR : public MHBase{protected: DATATYPE Weigh(const HypoNode& hypoOld, const HypoNode& hypoNew); /*Weigh hypotheses (after new hypothesis generated)*/public: MHGPSDR(); /*Default constructor*/ ~MHGPSDR(); /*Default destructor*/}MHGPSDR;#endif /*__MHGPSDR_H__*/?? 快捷鍵說明
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