00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef path_from_rtk_gps_H 00029 #define path_from_rtk_gps_H 00030 00031 #include <mrpt/poses/CPose3DInterpolator.h> 00032 #include <mrpt/math/lightweight_geom_data.h> 00033 #include <mrpt/poses/CPoint3D.h> 00034 #include <mrpt/slam/CRawlog.h> 00035 00036 namespace mrpt 00037 { 00038 namespace topography 00039 { 00040 00041 /** Used to return optional information from mrpt::topography::path_from_rtk_gps */ 00042 struct MRPTDLLIMPEXP TPathFromRTKInfo 00043 { 00044 std::map<mrpt::system::TTimeStamp,mrpt::math::TPoint3D> best_gps_path; //!< the path of the "best" GPS. 00045 std::map<mrpt::system::TTimeStamp, double> mahalabis_quality_measure; //!< A measure of the quality at each point (may be empty if not there is no enough information). 00046 std::map<mrpt::system::TTimeStamp, mrpt::math::CMatrixDouble66 > vehicle_uncertainty; //!< The 6x6 covariance matrix for the uncertainty of each vehicle pose (may be empty if there is no W_star info). 00047 mrpt::math::CMatrixDouble W_star; //!< The reference covariance matrix used to compute vehicle_uncertainty. 00048 }; 00049 00050 /** Reconstruct the path of a vehicle equipped with 3 RTK GPSs. 00051 * \param robot_path [OUT] The reconstructed vehicle path 00052 * \param rawlog [IN] The dataset 00053 * \param rawlog_first [IN] The index of the first entry to process (first=0) 00054 * \param rawlog_last [IN] The index of the last entry to process 00055 * \param isGUI [IN] If set to true, some progress dialogs will be shown during the computation (requires MRPT built with support for wxWidgets). 00056 * \param disableGPSInterp [IN] Whether to interpolate missing GPS readings between very close datums. 00057 * \param path_smooth_filter_size [IN] Size of the window in the pitch & roll noise filtering. 00058 * \param outInfo [OUT] Optional output: additional information from the optimization 00059 * 00060 * For more details on the method, refer to the paper: (...) 00061 * \sa mrpt::topography 00062 */ 00063 void MRPTDLLIMPEXP path_from_rtk_gps( 00064 mrpt::poses::CPose3DInterpolator &robot_path, 00065 const mrpt::slam::CRawlog &rawlog, 00066 size_t rawlog_first, 00067 size_t rawlog_last, 00068 bool isGUI=false, 00069 bool disableGPSInterp=false, 00070 int path_smooth_filter_size=2, 00071 TPathFromRTKInfo *outInfo = NULL 00072 ); 00073 00074 } // End of namespace 00075 00076 } // End of namespace 00077 00078 #endif
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