Modules/SelfLocator/ComboLocator.h

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/**
*
* @author <A href=mailto:c_rohde@web.de>Carsten Rohde</A>
*/

#ifndef __ComboLocator_h_
#define __ComboLocator_h_

#include "SelfLocator.h"
#include "LinesTables2005.h"
#include "GT2005SelfLocator/GT2005SelfLocator.h"
#include "GT2005StableSelfLocator/GT2005StableSelfLocator.h"
#include "SelfLocator.h"

/**
* The class implements a lines-based Monte Carlo self-localization.
*/
class  ComboLocator : public SelfLocator, public LinesTables2005
{
  private:
     SelfLocator* locator1;
     SelfLocator* locator2;
     Pose2D currentPose;
     Pose2D pose1;
     Pose2D pose2;
     bool finished;
     Vector2<double> dummy;

    double *result1, *result2;
    long frames;

  public:
    enum{
      NO_OF_FRAMES = 3000
    };
    /** 
    * Constructor.
    * @param interfaces The paramters of the SelfLocator module.
    */
     ComboLocator(const SelfLocatorInterfaces& interfaces);
     ~ComboLocator(void);
    /**
     * The function executes the module.
     */
    virtual void execute();
    virtual bool handleMessage(InMessage& message);
};

#endif

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