add slam_gmapping

slam_gmapping/openslam_gmapping/gridfastslam/gfs2log.cpp

@@ -0,0 +1,64 @@
+#include <cstring>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <vector>
+#include <list>
+#include <gmapping/utils/point.h>
+#include "gfsreader.h"
+
+#define MAX_LINE_LENGHT (1000000)
+
+using namespace std;
+using namespace GMapping;
+using namespace GMapping::GFSReader;
+
+int main (int argc, const char * const * argv){
+	if (argc<3){
+		cout << "usage gfs2log [-err] [-neff] [-part] [-odom] <infilename> <outfilename>" << endl;
+		cout << "  -odom : dump raw odometry in ODOM message instead of inpolated corrected one" << endl;
+		return -1;
+	}
+	bool err=0;
+	bool neff=0;
+	bool part=0;
+	bool odom=0;
+	//	int particle_num;
+	unsigned int  c=1;
+	if (!strcmp(argv[c],"-err")){
+		err=true;
+		c++;
+	}
+	if (!strcmp(argv[c],"-neff")){
+		neff=true;
+		c++;
+	}
+	if (!strcmp(argv[c],"-part")){
+		part=true;
+		c++;
+	}
+	if (!strcmp(argv[c],"-odom")){
+		odom=true;
+		c++;
+	}
+	ifstream is(argv[c]);
+	if (!is){
+		cout << "could read file "<< endl;
+		return -1;
+	}
+		c++;
+	RecordList rl;
+	rl.read(is);
+	unsigned int bestidx=rl.getBestIdx();
+	cout << endl << "best index = " <<  bestidx<< endl;
+	ofstream os(argv[c]);
+	if (! os){
+		cout << "could write file "<< endl;
+		return -1;
+	}
+	rl.printPath(os,bestidx,err,odom);
+	if(part)
+	  rl.printLastParticles(os);
+	os.close();
+	return 0;
+}