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Landmarks Functions

The simulator allow to define visual landmarks that can be helpful to implement legged robot navigation algorithms. In this version of the simulator, landmarks are simple balls placed at fixed positions. If the robot is equipped with a camera it can detect a subset of this landmarks. The following functions allow to identify this subset of visible landmarks.



unsigned int number_of_visible_landmarks (t_robot *r)
 

Returns the number of landmarks visible for the robot at a given moment.



void get_landmark (unsigned int n,t_landmark *l,double *p,t_robot *r)
 

Returns the description (l) and the position (p) in the robot's frame of reference of the the landmark number n visible by the robot at a given moment. The functions to manipulate the type t_landmank are described in section 3.2.16.



Josep M. Porta Pleite
8/2/2000