amcl 代码研究(1)—— amcl_sensor

class AMCLSensorData;

class AMCLSensor
{
      

  // Default constructor
  public: AMCLSensor();
         
  // Default destructor
  public: virtual ~AMCLSensor();

  // Update the filter based on the action model.  Returns true if the filter
  // has been updated.
  public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data);

  // Initialize the filter based on the sensor model.  Returns true if the
  // filter has been initialized.
  public: virtual bool InitSensor(pf_t *pf, AMCLSensorData *data);

  // Update the filter based on the sensor model.  Returns true if the
  // filter has been updated.
  public: virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data);

  // Flag is true if this is the action sensor
  public: bool is_action;

  // Action pose (action sensors only)
  public: pf_vector_t pose;

}

// Base class for all AMCL sensor measurements
class AMCLSensorData
{
  // Pointer to sensor that generated the data
  public: AMCLSensor *sensor;
          virtual ~AMCLSensorData() {}

  // Data timestamp
  public: double time;
};