scanmatcherprocessor.h

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#ifndef SCANMATCHERPROCESSOR_H
#define SCANMATCHERPROCESSOR_H
 
#include <gmapping/log/sensorlog.h>
#include <gmapping/sensor/sensor_range/rangesensor.h>
#include <gmapping/sensor/sensor_range/rangereading.h>
//#include <gsl/gsl_eigen.h>
#include "gmapping/scanmatcher/scanmatcher.h"
#include <gmapping/scanmatcher/scanmatcher_export.h>
 
namespace GMapping {
 
class SCANMATCHER_EXPORT ScanMatcherProcessor{
        public:
  ScanMatcherProcessor(const ScanMatcherMap& m);
  ScanMatcherProcessor (double xmin, double ymin, double xmax, double ymax, double delta, double patchdelta);
                virtual ~ScanMatcherProcessor ();
                virtual void processScan(const RangeReading & reading);
                void setSensorMap(const SensorMap& smap, std::string sensorName="FLASER");
                void init();
                void setMatchingParameters
                        (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, bool computeCovariance=false);
                void setRegistrationParameters(double regScore, double critScore);
                OrientedPoint getPose() const;
                inline const ScanMatcherMap& getMap() const {return m_map;}
                inline ScanMatcher& matcher() {return m_matcher;}
                inline void setmaxMove(double mmove){m_maxMove=mmove;}
                bool useICP;
        protected:
                ScanMatcher m_matcher;
                bool m_computeCovariance;
                bool m_first;
                SensorMap m_sensorMap;
                double m_regScore, m_critScore;
                unsigned int m_beams;
                double m_maxMove;
                //state
                ScanMatcherMap m_map;
                OrientedPoint m_pose;
                OrientedPoint m_odoPose;
                int  m_count;
                //gsl_eigen_symmv_workspace * m_eigenspace;
};
 
};
 
#endif