Function mrpt::obs::carmen_log_parse_line

Function Documentation

bool mrpt::obs::carmen_log_parse_line(std::istream &in_stream, std::vector<mrpt::obs::CObservation::Ptr> &out_imported_observations, const mrpt::system::TTimeStamp &time_start_log)

Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation.

The first word in each line determines the type of that entry. Supported line entries in this class are the following:

Note that the sensor position on the robot will be always deduced from the corresponding CARMEN log line automatically.

The following entry types will be IGNORED, since with the tags above will be enough in most applications.

  • ”ODOM”

  • ”RAWLASER”

About the PARAM entries: This functions has an internal static status consisting on some PARAM values which have effects on the future read observations. When the function finds one of these, it stores the parameter value, return an empty vector of observations, and use those values for future laser entries of types FLASER or RLASER. Currently, only these parameters are processed:

  • ”robot_front_laser_max”

  • ”laser_front_laser_resolution”

  • ”robot_rear_laser_max”

  • ”laser_rear_laser_resolution”

References: http://carmen.sourceforge.net/doc/binary__loggerplayback.html

Parameters:

time_start_log – The real timestamp that corresponds to a “0” in the CARMEN log (you can get a mrpt::Clock::now() once and pass that same value with each call).

Throws:

std::runtime_error – On any invalid line found.

Returns:

true on success, false on end-of-file (EOF).