rb_sm.c

Go to the documentation of this file.

#include "rb_sm.h"
#include <stdio.h>
#include <gsl/gsl_nan.h>
#include <options/options.h>
 
struct sm_params rb_sm_params; 
struct sm_result rb_sm_result;
 
void rb_sm_init_journal(const char*journal_file) {
        jj_set_stream(open_file_for_writing(journal_file));
/*      sm_journal_open(journal_file);*/
}
 
void rb_sm_close_journal() {
        FILE * s = jj_get_stream();
        if(s) fclose(s);
        
        jj_set_stream(0);
}
 
void rb_sm_odometry(double x, double y, double theta){
        rb_sm_params.first_guess[0]=x;
        rb_sm_params.first_guess[1]=y;
        rb_sm_params.first_guess[2]=theta;
}
 
void rb_sm_odometry_cov(double cov_x, double cov_y, double cov_theta){
        
}
 
struct option* ops = 0;
 
int rb_sm_set_configuration(const char*name, const char*value) {
        if(!ops) { 
                ops = options_allocate(30);
                sm_options(&rb_sm_params, ops);
        }
        
        if(!options_try_pair(ops, name, value)) {
 
                return 0;
        } else
        return 1;
}
 
const char *rb_result_to_json() {
        static char buf[5000];
        JO jo = result_to_json(&rb_sm_params, &rb_sm_result);
        strcpy(buf, jo_to_string(jo));
        jo_free(jo);
        return buf;
}
 
int rb_sm_icp() {
        sm_icp(&rb_sm_params, &rb_sm_result);
        return rb_sm_result.valid;
}
 
int rb_sm_gpm() {       
        sm_gpm(&rb_sm_params, &rb_sm_result);
        return rb_sm_result.valid;
}
 
void rb_set_laser_ref(const char*s) {
        rb_sm_params.laser_ref = string_to_ld(s);
/*      fprintf(stderr, "Set laser_ref to %p\n ", rb_sm_params.laser_ref );*/
}
 
void rb_set_laser_sens(const char*s) {
        rb_sm_params.laser_sens = string_to_ld(s);
/*      fprintf(stderr, "Set laser_sens to %p\n ", rb_sm_params.laser_sens );*/
}
 
void rb_sm_cleanup() {
        if(rb_sm_params.laser_ref)
        ld_free(rb_sm_params.laser_ref);
        if(rb_sm_params.laser_sens)
        ld_free(rb_sm_params.laser_sens);
}
 
LDP string_to_ld(const char*s) {
        JO jo = json_parse(s);
        if(!jo) {
                fprintf(stderr, "String passed from Ruby is invalid JSON: \n\n%s\n", s);
                return 0;
        }
        LDP ld = json_to_ld(jo);
        if(!ld) {
                fprintf(stderr, "String passed from Ruby is valid JSON, "
                        "but can't load laser_data. \n\n%s\n", s);
                return 0;
        }
        jo_free(jo);
        return ld;
}