log_test.cpp

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#include <cstdlib>
#include <fstream>
#include <iostream>
#include <gmapping/log/carmenconfiguration.h>
#include <gmapping/log/sensorlog.h>
 
 
using namespace std;
using namespace GMapping;
 
int main(int argc, char ** argv){
        if (argc<2){
                cout << "usage log_test <filename>" << endl;
                exit (-1);
        }
        ifstream is(argv[1]);
        if (! is){
                cout << "no file " << argv[1] << " found" << endl;
                exit (-1);
        }
        CarmenConfiguration conf;
        conf.load(is);
        
        SensorMap m=conf.computeSensorMap();
        
        //for (SensorMap::const_iterator it=m.begin(); it!=m.end(); it++)
        //      cout << it->first << " " << it->second->getName() << endl;
        
        SensorLog log(m);
        is.close();
        
        ifstream ls(argv[1]);
        log.load(ls);
        ls.close();
        cerr << "log size" << log.size() << endl;
        for (SensorLog::iterator it=log.begin(); it!=log.end(); it++){
                RangeReading* rr=dynamic_cast<RangeReading*>(*it);
                if (rr){
                        //cerr << rr->getSensor()->getName() << " ";
                        //cerr << rr->size()<< " ";
                        //for (RangeReading::const_iterator it=rr->begin(); it!=rr->end(); it++){
                        //      cerr << *it << " ";
                        //}
                        cout<< rr->getPose().x << " " << rr->getPose().y << " " << rr->getPose().theta << " " << rr->getTime()  << endl;
                }
        }
}