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/poses/CPoint3D.h> 00033 #include <mrpt/slam/CRawlog.h> 00034 00035 namespace mrpt 00036 { 00037 namespace topography 00038 { 00039 00041 struct MRPTDLLIMPEXP TPathFromRTKInfo 00042 { 00043 std::map<mrpt::system::TTimeStamp,mrpt::poses::CPoint3D> best_gps_path; 00044 std::map<mrpt::system::TTimeStamp, double> mahalabis_quality_measure; 00045 std::map<mrpt::system::TTimeStamp, mrpt::math::CMatrixDouble > vehicle_uncertainty; 00046 mrpt::math::CMatrixDouble W_star; 00047 }; 00048 00062 void MRPTDLLIMPEXP path_from_rtk_gps( 00063 mrpt::poses::CPose3DInterpolator &robot_path, 00064 const mrpt::slam::CRawlog &rawlog, 00065 size_t rawlog_first, 00066 size_t rawlog_last, 00067 bool isGUI=false, 00068 bool disableGPSInterp=false, 00069 int path_smooth_filter_size=2, 00070 TPathFromRTKInfo *outInfo = NULL 00071 ); 00072 00073 } // End of namespace 00074 00075 } // End of namespace 00076 00077 #endif
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