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Landmark Functions

  The landmark object contains the features associated to each landmark. Up to now, landmarks only have two attributes: and unique identifier and its position in the world. However this set of features can be easily extended (for instance with color, shape,...attributes).



unsigned int lmk_get_id (t_landmark *l)
 

Returns the landmarks identifier.



void lmk_get_position (double *position,t_landmark *l)
 

Return the landmark position in the world frame of reference. Observe that this position is not the same as the one returned by the get_landmark   function described before since this second one is expressed in the robot's frame of reference and changes as the robot moves while the first one does not.



Josep M. Porta Pleite
8/2/2000