gui
gfs_nogui.cpp
Go to the documentation of this file.
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/*****************************************************************
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*
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* This file is part of the GMAPPING project
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*
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* GMAPPING Copyright (c) 2004 Giorgio Grisetti,
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* Cyrill Stachniss, and Wolfram Burgard
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*
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* This software is licensed under the 3-Clause BSD License
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* and is copyrighted by Giorgio Grisetti, Cyrill Stachniss,
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* and Wolfram Burgard.
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*
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* Further information on this license can be found at:
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* https://opensource.org/licenses/BSD-3-Clause
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*
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* GMAPPING is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE.
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*
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*****************************************************************/
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#ifndef _WIN32
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#include <unistd.h>
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#endif
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#include "
gmapping/gui/gsp_thread.h
"
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using namespace
GMapping
;
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int
main
(
int
argc,
char
** argv){
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cerr <<
"GMAPPING copyright 2004 by Giorgio Grisetti, Cyrill Stachniss,"
<< endl ;
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cerr <<
"and Wolfram Burgard. Published under the 3-Clause BSD License,"
<< endl ;
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cerr <<
"see: https://opensource.org/licenses/BSD-3-Clause"
<< endl << endl;
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GridSlamProcessorThread
* gsp=
new
GridSlamProcessorThread
;
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if
(gsp->
init
(argc, argv)){
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cout <<
"GSP INIT ERROR"
<< endl;
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return
-1;
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}
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cout <<
"GSP INITIALIZED"
<< endl;
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if
(gsp->
loadFiles
()){
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cout <<
"GSP READFILE ERROR"
<< endl;
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return
-2;
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}
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cout <<
"FILES LOADED"
<< endl;
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gsp->
setMapUpdateTime
(1000000);
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gsp->
start
();
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cout <<
"THREAD STARTED"
<< endl;
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bool
done=
false
;
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while
(!done){
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GridSlamProcessorThread::EventDeque
events=gsp->
getEvents
();
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for
(GridSlamProcessorThread::EventDeque::iterator it=events.begin(); it!=events.end(); it++){
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cout << flush;
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GridSlamProcessorThread::DoneEvent
* doneEvent=
dynamic_cast<
GridSlamProcessorThread::DoneEvent
*
>
(*it);
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if
(doneEvent){
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done=
true
;
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cout <<
"DONE!"
<< endl;
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gsp->
stop
();
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}
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if
(*it)
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delete
(*it);
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}
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}
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}
GridSlamProcessorThread::init
int init(int argc, const char *const *argv)
Definition:
gsp_thread.cpp:36
GridSlamProcessorThread::setMapUpdateTime
void setMapUpdateTime(unsigned int ut)
Definition:
gsp_thread.h:98
GridSlamProcessorThread::loadFiles
int loadFiles(const char *fn=0)
Definition:
gsp_thread.cpp:153
GridSlamProcessorThread::stop
void stop()
Definition:
gsp_thread.cpp:506
GridSlamProcessorThread::getEvents
EventDeque getEvents()
Definition:
gsp_thread.cpp:615
GridSlamProcessorThread::EventDeque
deque< Event * > EventDeque
Definition:
gsp_thread.h:74
GridSlamProcessorThread
Definition:
gsp_thread.h:44
gsp_thread.h
GMapping
Definition:
configfile.cpp:34
GridSlamProcessorThread::start
void start()
Definition:
gsp_thread.cpp:499
GridSlamProcessorThread::DoneEvent
Definition:
gsp_thread.h:71
GMapping::main
int main(int argc, conat char **argv)
Definition:
lumiles.h:45
openslam_gmapping
Author(s): Cyrill Stachniss, Udo Frese, Giorgio Grisetti, Wolfram Burgard
autogenerated on Mon Feb 28 2022 22:59:20