Program Listing for File mrpt_localization.h

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/* +------------------------------------------------------------------------+
   |                             mrpt_navigation                            |
   |                                                                        |
   | Copyright (c) 2014-2023, Individual contributors, see commit authors   |
   | See: https://github.com/mrpt-ros-pkg/mrpt_navigation                   |
   | All rights reserved. Released under BSD 3-Clause license. See LICENSE  |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/config/CConfigFile.h>
#include <mrpt/gui/CDisplayWindow3D.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_;
};