00001 /*********************************************************************************** 00002 * Revised BSD License * 00003 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> * 00004 * All rights reserved. * 00005 * * 00006 * Redistribution and use in source and binary forms, with or without * 00007 * modification, are permitted provided that the following conditions are met: * 00008 * * Redistributions of source code must retain the above copyright * 00009 * notice, this list of conditions and the following disclaimer. * 00010 * * Redistributions in binary form must reproduce the above copyright * 00011 * notice, this list of conditions and the following disclaimer in the * 00012 * documentation and/or other materials provided with the distribution. * 00013 * * Neither the name of the Vienna University of Technology nor the * 00014 * names of its contributors may be used to endorse or promote products * 00015 * derived from this software without specific prior written permission. * 00016 * * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 *AND * 00019 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00020 ** 00021 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * 00022 * DISCLAIMED. IN NO EVENT SHALL Markus Bader BE LIABLE FOR ANY * 00023 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * 00024 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00025 ** 00026 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * 00027 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * 00028 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00029 ** 00030 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00031 ** * 00032 ***********************************************************************************/ 00033 00034 #ifndef MRPT_LOCALIZATION_H 00035 #define MRPT_LOCALIZATION_H 00036 00037 #include <iostream> 00038 #include <stdint.h> 00039 #include <mrpt_localization/mrpt_localization_core.h> 00040 #include <mrpt/gui/CDisplayWindow3D.h> 00041 00042 #if MRPT_VERSION >= 0x199 00043 #include <mrpt/config/CConfigFile.h> 00044 #include <mrpt/io/CFileGZInputStream.h> 00045 using namespace mrpt::config; 00046 using namespace mrpt::io; 00047 #else 00048 #include <mrpt/utils/CConfigFile.h> 00049 #include <mrpt/utils/CFileGZInputStream.h> 00050 using namespace mrpt::utils; 00051 #endif 00052 00053 class PFLocalization : public PFLocalizationCore 00054 { 00055 public: 00056 struct Parameters 00057 { 00058 Parameters(PFLocalization* p); 00059 bool debug; 00060 bool gui_mrpt; 00061 std::string ini_file; 00062 std::string map_file; 00063 std::string sensor_sources; 00064 00065 00066 bool* use_motion_model_default_options; 00067 CActionRobotMovement2D::TMotionModelOptions* motion_model_options; 00068 CActionRobotMovement2D::TMotionModelOptions* 00069 motion_model_default_options; 00070 }; 00071 PFLocalization(Parameters* parm); 00072 virtual ~PFLocalization(); 00073 00074 protected: 00075 Parameters* param_; 00076 void init(); 00077 void init3DDebug(); 00078 void show3DDebug(CSensoryFrame::Ptr _observations); 00079 void configureFilter(const CConfigFile& _configFile); 00080 virtual bool waitForMap() { return false; } 00081 mrpt::gui::CDisplayWindow3D::Ptr win3D_; 00082 mrpt::opengl::COpenGLScene scene_; 00083 00084 int SCENE3D_FREQ_; 00085 bool SCENE3D_FOLLOW_; 00086 bool SHOW_PROGRESS_3D_REAL_TIME_; 00087 int SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS_; 00088 }; 00089 00090 #endif // MRPT_LOCALIZATION_H