mrpt_localization.h

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/***********************************************************************************
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 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> *
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#ifndef MRPT_LOCALIZATION_H
#define MRPT_LOCALIZATION_H

#include <iostream>
#include <stdint.h>
#include <mrpt_localization/mrpt_localization_core.h>
#include <mrpt/gui/CDisplayWindow3D.h>

#if MRPT_VERSION >= 0x199
#include <mrpt/config/CConfigFile.h>
#include <mrpt/io/CFileGZInputStream.h>
using namespace mrpt::config;
using namespace mrpt::io;
#else
#include <mrpt/utils/CConfigFile.h>
#include <mrpt/utils/CFileGZInputStream.h>
using namespace mrpt::utils;
#endif

class PFLocalization : public PFLocalizationCore
{
   public:
        struct Parameters
        {
                Parameters(PFLocalization* p);
                bool debug;
                bool gui_mrpt;
                std::string ini_file;
                std::string map_file;
                std::string sensor_sources;  
                bool* use_motion_model_default_options;
                CActionRobotMovement2D::TMotionModelOptions* motion_model_options;
                CActionRobotMovement2D::TMotionModelOptions*
                        motion_model_default_options;
        };
        PFLocalization(Parameters* parm);
        virtual ~PFLocalization();

   protected:
        Parameters* param_;
        void init();
        void init3DDebug();
        void show3DDebug(CSensoryFrame::Ptr _observations);
        void configureFilter(const CConfigFile& _configFile);
        virtual bool waitForMap() { return false; }
        mrpt::gui::CDisplayWindow3D::Ptr win3D_;
        mrpt::opengl::COpenGLScene scene_;

        int SCENE3D_FREQ_;
        bool SCENE3D_FOLLOW_;
        bool SHOW_PROGRESS_3D_REAL_TIME_;
        int SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS_;
};

#endif  // MRPT_LOCALIZATION_H