humanoid_localization: humanoid_localization: localization

00001 // SVN $HeadURL: http://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/humanoid_navigation/humanoid_localization/src/localization_node.cpp $
00002 // SVN $Id: localization_node.cpp 3129 2012-09-21 12:19:27Z hornunga@informatik.uni-freiburg.de $
00003 
00004 /*
00005  * 6D localization for humanoid robots
00006  *
00007  * Copyright 2009-2012 Armin Hornung, University of Freiburg
00008  * http://www.ros.org/wiki/humanoid_localization
00009  *
00010  *
00011  * This program is free software: you can redistribute it and/or modify
00012  * it under the terms of the GNU General Public License as published by
00013  * the Free Software Foundation, version 3.
00014  *
00015  * This program is distributed in the hope that it will be useful,
00016  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  * GNU General Public License for more details.
00019  *
00020  * You should have received a copy of the GNU General Public License
00021  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
00022  */
00023 
00024 #include <ros/ros.h>
00025 #include <humanoid_localization/HumanoidLocalization.h>
00026 
00027 int main(int argc, char** argv){
00028   ros::init(argc, argv, "humanoid_localization");
00029 
00030   ros::NodeHandle private_nh("~");
00031   unsigned seed;
00032   int iseed;
00033   private_nh.param("seed", iseed, -1);
00034   if(iseed == -1)
00035     seed = static_cast<unsigned int>(std::time(0));
00036   else
00037     seed = static_cast<unsigned int>(iseed);
00038 
00039   humanoid_localization::HumanoidLocalization localization(seed);
00040 
00041   ros::spin();
00042 
00043   return 0;
00044 }