.. _program_listing_file__tmp_ws_src_mrpt_navigation_mrpt_localization_include_mrpt_localization_mrpt_localization.h:

Program Listing for File mrpt_localization.h
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mrpt_navigation_mrpt_localization_include_mrpt_localization_mrpt_localization.h>` (``/tmp/ws/src/mrpt_navigation/mrpt_localization/include/mrpt_localization/mrpt_localization.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /* +------------------------------------------------------------------------+
      |                             mrpt_navigation                            |
      |                                                                        |
      | Copyright (c) 2014-2023, Individual contributors, see commit authors   |
      | See: https://github.com/mrpt-ros-pkg/mrpt_navigation                   |
      | All rights reserved. Released under BSD 3-Clause license. See LICENSE  |
      +------------------------------------------------------------------------+ */
   
   #pragma once
   
   #include <mrpt/config/CConfigFile.h>
   #include <mrpt/gui/CDisplayWindow3D.h>
   #include <mrpt/io/CFileGZInputStream.h>
   #include <mrpt_localization/mrpt_localization_core.h>
   #include <stdint.h>
   
   #include <iostream>
   
   class PFLocalization : public PFLocalizationCore
   {
      public:
       struct Parameters
       {
           Parameters(PFLocalization* p);
           bool debug;
           bool gui_mrpt;
           std::string ini_file;
           std::string map_file;
           std::string sensor_sources;  
           bool* use_motion_model_default_options;
           CActionRobotMovement2D::TMotionModelOptions* motion_model_options;
           CActionRobotMovement2D::TMotionModelOptions*
               motion_model_default_options;
       };
       PFLocalization(Parameters* parm);
       virtual ~PFLocalization();
   
      protected:
       Parameters* param_;
       void init();
       void init3DDebug();
       void show3DDebug(CSensoryFrame::Ptr _observations);
       void configureFilter(const mrpt::config::CConfigFile& _configFile);
       virtual bool waitForMap() { return false; }
       mrpt::gui::CDisplayWindow3D::Ptr 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_;
   };