gfsreader.h
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00001 #ifndef GFSREADER_H
00002 #define GFSREADER_H
00003 
00004 #include <iostream>
00005 #include <fstream>
00006 #include <sstream>
00007 #include <vector>
00008 #include <list>
00009 #include <gmapping/utils/point.h>
00010 
00011 #define MAX_LINE_LENGHT (1000000)
00012 
00013 namespace GMapping{
00014 
00015 namespace GFSReader{
00016         
00017 using namespace std;
00018 
00019 struct Record{
00020         unsigned int dim;
00021         double time;
00022         virtual ~Record();
00023         virtual void read(istream& is)=0;
00024         virtual void write(ostream& os);
00025 };
00026 
00027 struct CommentRecord: public Record{
00028         string text;
00029         virtual void read(istream& is);
00030         virtual void write(ostream& os);
00031 };
00032 
00033 struct PoseRecord: public Record{
00034         PoseRecord(bool ideal=false);
00035         void read(istream& is);
00036         virtual void write(ostream& os);
00037         bool truePos;
00038         OrientedPoint pose;
00039 };
00040 
00041 struct NeffRecord: public Record{
00042         void read(istream& is);
00043         virtual void write(ostream& os);
00044         double neff;
00045 };
00046 
00047 struct EntropyRecord: public Record{
00048         void read(istream& is);
00049         virtual void write(ostream& os);
00050         double poseEntropy;
00051         double trajectoryEntropy;
00052         double mapEntropy;
00053 };
00054 
00055 
00056 struct OdometryRecord: public Record{
00057         virtual void read(istream& is);
00058         vector<OrientedPoint> poses;
00059 };
00060 
00061 struct RawOdometryRecord: public Record{
00062         virtual void read(istream& is);
00063         OrientedPoint pose;
00064 };
00065 
00066 struct ScanMatchRecord: public Record{
00067         virtual void read(istream& is);
00068         vector<OrientedPoint> poses;
00069         vector<double> weights;
00070 };
00071 
00072 struct LaserRecord: public Record{
00073         virtual void read(istream& is);
00074         virtual void write(ostream& os);
00075         vector<double> readings;
00076         OrientedPoint pose;
00077         double weight;
00078 };
00079 
00080 struct ResampleRecord: public Record{
00081         virtual void read(istream& is);
00082         vector<unsigned int> indexes;
00083 };
00084 
00085 struct RecordList: public list<Record*>{
00086         mutable int sampleSize;
00087         istream& read(istream& is);
00088         double getLogWeight(unsigned int i) const;
00089         double getLogWeight(unsigned int i, RecordList::const_iterator frame) const;
00090         unsigned int getBestIdx() const ;
00091         void printLastParticles(ostream& os) const ;
00092         void printPath(ostream& os, unsigned int i, bool err=false, bool rawodom=false) const;
00093         RecordList computePath(unsigned int i, RecordList::const_iterator frame) const;
00094         void destroyReferences();
00095 };
00096 
00097 }; //end namespace GFSReader
00098 
00099 }; //end namespace GMapping
00100 
00101 #endif


openslam_gmapping
Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
autogenerated on Fri Aug 28 2015 11:56:21