include
gmapping
gridfastslam
gfsreader.h
Go to the documentation of this file.
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#ifndef GFSREADER_H
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#define GFSREADER_H
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#include <iostream>
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#include <fstream>
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#include <sstream>
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#include <vector>
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#include <list>
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#include <
gmapping/utils/point.h
>
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#include <gmapping/gridfastslam/gridfastslam_export.h>
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#define MAX_LINE_LENGHT (1000000)
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namespace
GMapping
{
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namespace
GFSReader{
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using namespace
std;
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struct
GRIDFASTSLAM_EXPORT
Record
{
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unsigned
int
dim
;
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double
time
;
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virtual
~
Record
();
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virtual
void
read
(istream&
is
)=0;
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virtual
void
write(ostream& os);
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};
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struct
GRIDFASTSLAM_EXPORT
CommentRecord
:
public
Record
{
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string
text
;
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virtual
void
read
(istream&
is
);
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virtual
void
write(ostream& os);
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};
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struct
GRIDFASTSLAM_EXPORT
PoseRecord
:
public
Record
{
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PoseRecord
(
bool
ideal=
false
);
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void
read
(istream&
is
);
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virtual
void
write(ostream& os);
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bool
truePos
;
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OrientedPoint
pose
;
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};
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struct
GRIDFASTSLAM_EXPORT
NeffRecord
:
public
Record
{
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void
read
(istream&
is
);
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virtual
void
write(ostream& os);
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double
neff
;
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};
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struct
GRIDFASTSLAM_EXPORT
EntropyRecord
:
public
Record
{
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void
read
(istream&
is
);
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virtual
void
write(ostream& os);
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double
poseEntropy
;
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double
trajectoryEntropy
;
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double
mapEntropy
;
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};
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struct
GRIDFASTSLAM_EXPORT
OdometryRecord
:
public
Record
{
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virtual
void
read
(istream&
is
);
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vector<OrientedPoint>
poses
;
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};
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struct
GRIDFASTSLAM_EXPORT
RawOdometryRecord
:
public
Record
{
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virtual
void
read
(istream&
is
);
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OrientedPoint
pose
;
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};
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struct
GRIDFASTSLAM_EXPORT
ScanMatchRecord
:
public
Record
{
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virtual
void
read
(istream&
is
);
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vector<OrientedPoint>
poses
;
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vector<double>
weights
;
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};
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struct
GRIDFASTSLAM_EXPORT
LaserRecord
:
public
Record
{
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virtual
void
read
(istream&
is
);
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virtual
void
write(ostream& os);
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vector<double>
readings
;
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OrientedPoint
pose
;
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double
weight
;
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};
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struct
GRIDFASTSLAM_EXPORT
ResampleRecord
:
public
Record
{
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virtual
void
read
(istream&
is
);
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vector<unsigned int>
indexes
;
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};
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struct
GRIDFASTSLAM_EXPORT
RecordList
:
public
list<Record*>{
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mutable
int
sampleSize
;
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istream&
read
(istream&
is
);
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double
getLogWeight(
unsigned
int
i)
const
;
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double
getLogWeight(
unsigned
int
i, RecordList::const_iterator frame)
const
;
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unsigned
int
getBestIdx()
const
;
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void
printLastParticles(ostream& os)
const
;
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void
printPath(ostream& os,
unsigned
int
i,
bool
err
=
false
,
bool
rawodom=
false
)
const
;
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RecordList
computePath(
unsigned
int
i, RecordList::const_iterator frame)
const
;
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void
destroyReferences();
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};
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};
//end namespace GFSReader
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};
//end namespace GMapping
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#endif
GMapping::GFSReader::ScanMatchRecord::weights
vector< double > weights
Definition:
gfsreader.h:70
point.h
GMapping::GFSReader::EntropyRecord::trajectoryEntropy
double trajectoryEntropy
Definition:
gfsreader.h:52
GMapping::GFSReader::ResampleRecord
Definition:
gfsreader.h:81
GMapping::GFSReader::LaserRecord::pose
OrientedPoint pose
Definition:
gfsreader.h:77
GMapping::GFSReader::ResampleRecord::indexes
vector< unsigned int > indexes
Definition:
gfsreader.h:83
GMapping::GFSReader::PoseRecord::truePos
bool truePos
Definition:
gfsreader.h:38
is
ifstream is(argv[c])
GMapping::GFSReader::PoseRecord::pose
OrientedPoint pose
Definition:
gfsreader.h:39
GMapping
Definition:
configfile.cpp:34
read
rl read(is)
GMapping::GFSReader::EntropyRecord::poseEntropy
double poseEntropy
Definition:
gfsreader.h:51
GMapping::GFSReader::CommentRecord
Definition:
gfsreader.h:28
GMapping::GFSReader::OdometryRecord
Definition:
gfsreader.h:57
GMapping::GFSReader::ScanMatchRecord::poses
vector< OrientedPoint > poses
Definition:
gfsreader.h:69
GMapping::GFSReader::LaserRecord::readings
vector< double > readings
Definition:
gfsreader.h:76
GMapping::GFSReader::Record::time
double time
Definition:
gfsreader.h:22
GMapping::GFSReader::Record
Definition:
gfsreader.h:20
GMapping::GFSReader::OdometryRecord::poses
vector< OrientedPoint > poses
Definition:
gfsreader.h:59
GMapping::GFSReader::NeffRecord::neff
double neff
Definition:
gfsreader.h:45
GMapping::GFSReader::LaserRecord::weight
double weight
Definition:
gfsreader.h:78
GMapping::GFSReader::RecordList
Definition:
gfsreader.h:86
GMapping::GFSReader::RecordList::sampleSize
int sampleSize
Definition:
gfsreader.h:87
GMapping::GFSReader::EntropyRecord
Definition:
gfsreader.h:48
GMapping::GFSReader::RawOdometryRecord
Definition:
gfsreader.h:62
GMapping::GFSReader::CommentRecord::text
string text
Definition:
gfsreader.h:29
GMapping::GFSReader::Record::dim
unsigned int dim
Definition:
gfsreader.h:21
GMapping::GFSReader::ScanMatchRecord
Definition:
gfsreader.h:67
GMapping::GFSReader::RawOdometryRecord::pose
OrientedPoint pose
Definition:
gfsreader.h:64
err
bool err
Definition:
gfs2stream.cpp:38
GMapping::GFSReader::LaserRecord
Definition:
gfsreader.h:73
GMapping::orientedpoint< double, double >
GMapping::GFSReader::EntropyRecord::mapEntropy
double mapEntropy
Definition:
gfsreader.h:53
GMapping::GFSReader::NeffRecord
Definition:
gfsreader.h:42
GMapping::GFSReader::PoseRecord
Definition:
gfsreader.h:34
openslam_gmapping
Author(s): Cyrill Stachniss, Udo Frese, Giorgio Grisetti, Wolfram Burgard
autogenerated on Thu Oct 19 2023 02:25:51