mrpt_localization.h

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 * Revised BSD License                                                             *
 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
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#ifndef MRPT_LOCALIZATION_H
#define MRPT_LOCALIZATION_H

#include <iostream>
#include <stdint.h>
#include <mrpt_localization/mrpt_localization_core.h>
#include <mrpt/utils/CConfigFile.h>
#include <mrpt/gui/CDisplayWindow3D.h>


class PFLocalization : public PFLocalizationCore {
public:
    struct Parameters {
        Parameters(PFLocalization *p);
        bool debug;
        bool gui_mrpt;
        std::string iniFile;
        std::string mapFile;
        bool *use_motion_model_default_options;
        mrpt::slam::CActionRobotMovement2D::TMotionModelOptions *motion_model_options;
        mrpt::slam::CActionRobotMovement2D::TMotionModelOptions *motion_model_default_options;
    };
    PFLocalization (Parameters *parm);
    ~PFLocalization();
protected:
    Parameters *param_;
    void init();
    void init3DDebug();
    void show3DDebug(mrpt::slam::CSensoryFramePtr _observations);
    void configureFilter(const mrpt::utils::CConfigFile &_configFile);
    virtual bool waitForMap(){return false;};

    mrpt::gui::CDisplayWindow3DPtr 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_;
};

#endif // MRPT_LOCALIZATION_H