yamlWriter.h
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00001 #include <iostream>
00002 //yaml reading and writing
00003 #include <opencv2/core/core.hpp>
00004 #include <fstream>
00005 #include <tf/tf.h>
00006 
00007 class yamlWriter 
00008 {
00009 public:
00010   int writeTrajectory(const std::string & filename, const std::vector<tf::Stamped<tf::Pose> > & opening_trajectory);
00011 
00013 
00014   std::string getName () const { return ("[yamlWriter: ]"); }
00015 };
00016 
00017 
00018 int yamlWriter::writeTrajectory(const std::string & filename, const std::vector<tf::Stamped<tf::Pose> > & opening_trajectory)
00019 {
00020 
00021     cv::FileStorage fs;
00022     fs.open(filename, cv::FileStorage::WRITE);
00023     if (!fs.isOpened())
00024     {
00025       std::cerr << "bad yml file!" << std::endl;
00026       return -1;
00027     }
00028 
00029     cv::Mat mat_trajectory;
00030     mat_trajectory = cv::Mat::zeros(opening_trajectory.size(), 7, CV_32F);
00031     for (uint i = 0; i < opening_trajectory.size(); i++)
00032       {
00033         mat_trajectory.at<float>(i, 0) = opening_trajectory[i].getOrigin().x();
00034         mat_trajectory.at<float>(i, 1) = opening_trajectory[i].getOrigin().y();
00035         mat_trajectory.at<float>(i, 2) = opening_trajectory[i].getOrigin().z();
00036         mat_trajectory.at<float>(i, 3) = opening_trajectory[i].getRotation().x();
00037         mat_trajectory.at<float>(i, 4) = opening_trajectory[i].getRotation().y();
00038         mat_trajectory.at<float>(i, 5) = opening_trajectory[i].getRotation().z();
00039         mat_trajectory.at<float>(i, 6) = opening_trajectory[i].getRotation().w();
00040       }
00041     fs << "trajectory " << mat_trajectory;
00042     //cv::FileNode fn = fs["cabinet" + ss.str ()];
00043     /* std::stringstream ss; */
00044     /* ss << 100; */
00045     /* cv::FileNode fn = fs["cabinet" + ss.str()]; */
00046     /* cv::FileNodeIterator it = fn.begin(); */
00047     /* while (it != fn.end()) */
00048     /*   { */
00049     /*  cv::FileNode n = *it; */
00050     /*  std::cerr << "n.name: " << n.name() << std::endl; */
00051     /*  if (n.name() == "type" && n.size() == 1) */
00052     /*    { */
00053     /*      //      unique_id++; */
00054     /*      // cabinet.id = unique_id; */
00055     /*      std::cerr << "writting my string" << std::endl; */
00056     /*      std::string(n) == "my_string"; */
00057     /*    } */
00058     /*   } */
00059     fs.release();
00060     return 1;
00061 }
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57