orcaobj/localise2d.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef ORCAOBJ_LOCALISE2D_H
00012 #define ORCAOBJ_LOCALISE2D_H
00013 
00014 #include <orca/localise2d.h>
00015 
00016 namespace orcaobj
00017 {
00018 
00022 void normalise( orca::Localise2dData& obj );
00023 
00025 const orca::Pose2dHypothesis& mlHypothesis( const orca::Localise2dData& obj );
00026 
00027 bool localisationIsUncertain( const orca::Localise2dData &localiseData,
00028                               double linearThreshold = 5 );
00029 
00031 std::string toString( const orca::Localise2dData& );
00032 
00033 } // namespace
00034 
00035 #endif