mrpt_localization.h

Go to the documentation of this file.

/***********************************************************************************
 * Revised BSD License *
 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> *
 * All rights reserved. *
 *                                                                                 *
 * Redistribution and use in source and binary forms, with or without *
 * modification, are permitted provided that the following conditions are met: *
 *     * Redistributions of source code must retain the above copyright *
 *       notice, this list of conditions and the following disclaimer. *
 *     * Redistributions in binary form must reproduce the above copyright *
 *       notice, this list of conditions and the following disclaimer in the *
 *       documentation and/or other materials provided with the distribution. *
 *     * Neither the name of the Vienna University of Technology nor the *
 *       names of its contributors may be used to endorse or promote products *
 *       derived from this software without specific prior written permission. *
 *                                                                                 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 *AND *
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 **
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
 * DISCLAIMED. IN NO EVENT SHALL Markus Bader BE LIABLE FOR ANY *
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 **
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 **
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 **                       *
 ***********************************************************************************/

#pragma once

#include <mrpt/config/CConfigFile.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt_localization/mrpt_localization_core.h>
#include <stdint.h>

#include <iostream>

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 mrpt::config::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_;
};