typedef enum
{
LASER_MODEL_BEAM,
LASER_MODEL_LIKELIHOOD_FIELD,
LASER_MODEL_LIKELIHOOD_FIELD_PROB
} laser_model_t;
// Laser sensor data
class AMCLLaserData : public AMCLSensorData
{
public:
AMCLLaserData () {ranges=NULL;};
virtual ~AMCLLaserData() {delete [] ranges;};
// Laser range data (range, bearing tuples)
public: int range_count;
public: double range_max;
public: double (*ranges)[2];
};