ld_exp_tro1.c

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#include <string.h>
#include <gsl/gsl_rng.h>
#include <gsl/gsl_randist.h>
#include <gsl/gsl_math.h>
#include <math.h>
#include <options/options.h>
 
#include "../csm/csm_all.h"
 
struct ld_exp_tro1_params {
        int seed;
 
        double max_xy_error;
        double max_theta_error_deg;
        
        const char* file_input;
        const char* file_output1;
        const char* file_output2;
        
        int num_per_scan;
        
        int debug;
};
 
const char * banner = 
        "This program prepares the data for one of the experiments. \n\n"
                "The input is any sensor log (Carmen or JSON format) \n"
                "The output are two files that contain laser_ref and laser_sens\n"
                "(you have to match the i-th scan in the first file with the i-th\n"
                " in the second).\n\n"
                "The two files contain exactly the same date but for the 'odometry' field\n"
                "The odometry error is uniform in the intervals given.\n";
 
int main(int argc, const char ** argv) {
        sm_set_program_name(argv[0]);
        
        struct ld_exp_tro1_params p;
        
        options_banner(banner);
        
        struct option* ops = options_allocate(10);
        options_double(ops, "max_xy_error", &p.max_xy_error, 10.0, "Maximum error for x,y (m)");
        options_double(ops, "max_theta_error_deg", &p.max_theta_error_deg, 10.0, "Maximum error for orientation (deg)");
        options_int   (ops, "seed", &p.seed, 0, "Seed for random number generator (if 0, use GSL_RNG_SEED env. variable).");
 
        options_int(ops, "num_per_scan", &p.num_per_scan, 10, "Number of trials for each scan.");
 
        options_string(ops, "in", &p.file_input, "stdin", "Input file ");
        options_string(ops, "out1", &p.file_output1, "stdout", "Output file for first scan");
        options_string(ops, "out2", &p.file_output2, "stdout", "Output file for second scan");
        
        options_int(ops, "debug", &p.debug, 0, "Shows debug information");
        
        if(!options_parse_args(ops, argc, argv)) {
                options_print_help(ops, stderr);
                return -1;
        }
        
        sm_debug_write(p.debug);
 
        gsl_rng_env_setup();
        gsl_rng * rng = gsl_rng_alloc (gsl_rng_ranlxs0);
        if(p.seed != 0)
        gsl_rng_set(rng, (unsigned int) p.seed);
        
        /* Open the two output files (possibly the same one) */
        
        FILE * in = open_file_for_reading(p.file_input);
        if(!in) return -3;
 
        FILE * out1 = open_file_for_writing(p.file_output1);
        if(!out1) return -2;
        
        FILE * out2;
        if(!strcmp(p.file_output1, p.file_output2)) {
                out1 = out2;
        } else {
                out2 = open_file_for_writing(p.file_output2);
                if(!out2) return -2;
        }
 
        /* Read laser data from input file */
        LDP ld; int count=0;
        while( (ld = ld_read_smart(in))) {
                count++;
                if(!ld_valid_fields(ld))  {
                        sm_error("Invalid laser data (#%d in file)\n", count);
                        continue;
                }
                
                for(int n=0; n < p.num_per_scan; n++) {                                 
                        ld->true_pose[0] = 0;
                        ld->true_pose[1] = 0;
                        ld->true_pose[2] = 0;
                        
                        ld->odometry[0] = 0;
                        ld->odometry[1] = 0;
                        ld->odometry[2] = 0;
                        
                        ld_write_as_json(ld, out1);
 
                        ld->odometry[0] = 2*(gsl_rng_uniform(rng)-0.5) * p.max_xy_error;
                        ld->odometry[1] = 2*(gsl_rng_uniform(rng)-0.5) * p.max_xy_error;
                        ld->odometry[2] = 2*(gsl_rng_uniform(rng)-0.5) * deg2rad(p.max_theta_error_deg);
                        
                        ld_write_as_json(ld, out2);
                }
 
                ld_free(ld);
        }
        
        return 0;
}