mrpt_localization.h
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00001 /***********************************************************************************
00002  * Revised BSD License                                                             *
00003  * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
00004  * All rights reserved.                                                            *
00005  *                                                                                 *
00006  * Redistribution and use in source and binary forms, with or without              *
00007  * modification, are permitted provided that the following conditions are met:     *
00008  *     * Redistributions of source code must retain the above copyright            *
00009  *       notice, this list of conditions and the following disclaimer.             *
00010  *     * Redistributions in binary form must reproduce the above copyright         *
00011  *       notice, this list of conditions and the following disclaimer in the       *
00012  *       documentation and/or other materials provided with the distribution.      *
00013  *     * Neither the name of the Vienna University of Technology nor the           *
00014  *       names of its contributors may be used to endorse or promote products      *
00015  *       derived from this software without specific prior written permission.     *
00016  *                                                                                 *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
00018  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED   *
00019  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE          *
00020  * DISCLAIMED. IN NO EVENT SHALL Markus Bader BE LIABLE FOR ANY                    *
00021  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES      *
00022  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;    *
00023  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND     *
00024  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT      *
00025  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS   *
00026  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                    *                       *
00027  ***********************************************************************************/
00028 
00029 #ifndef MRPT_LOCALIZATION_H
00030 #define MRPT_LOCALIZATION_H
00031 
00032 #include <iostream>
00033 #include <stdint.h>
00034 #include <mrpt_localization/mrpt_localization_core.h>
00035 #include <mrpt/utils/CConfigFile.h>
00036 #include <mrpt/gui/CDisplayWindow3D.h>
00037 
00038 
00039 class PFLocalization : public PFLocalizationCore {
00040 public:
00041     struct Parameters {
00042         Parameters(PFLocalization *p);
00043         bool debug;
00044         bool gui_mrpt;
00045         std::string iniFile;
00046         std::string mapFile;
00047         bool *use_motion_model_default_options;
00048         mrpt::slam::CActionRobotMovement2D::TMotionModelOptions *motion_model_options;
00049         mrpt::slam::CActionRobotMovement2D::TMotionModelOptions *motion_model_default_options;
00050     };
00051     PFLocalization (Parameters *parm);
00052     ~PFLocalization();
00053 protected:
00054     Parameters *param_;
00055     void init();
00056     void init3DDebug();
00057     void show3DDebug(mrpt::slam::CSensoryFramePtr _observations);
00058     void configureFilter(const mrpt::utils::CConfigFile &_configFile);
00059     virtual bool waitForMap(){return false;};
00060 
00061     mrpt::gui::CDisplayWindow3DPtr win3D_;
00062     mrpt::opengl::COpenGLScene scene_;
00063 
00064 
00065     int         SCENE3D_FREQ_;
00066     bool        SCENE3D_FOLLOW_;
00067     bool        SHOW_PROGRESS_3D_REAL_TIME_;
00068     int         SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS_;
00069 };
00070 
00071 #endif // MRPT_LOCALIZATION_H


mrpt_localization
Author(s): Markus Bader
autogenerated on Mon Aug 11 2014 11:23:29