add slam_gmapping

slam_gmapping/openslam_gmapping/gridfastslam/gfs2neff.cpp

@@ -0,0 +1,40 @@
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <cstring>
+
+using namespace std;
+
+int main(int argc, char**argv){
+	if (argc<3){
+		cout << "usage gfs2neff <infilename> <nefffilename>" << endl;
+		return -1;
+	}
+	ifstream is(argv[1]);
+	if (!is){
+		cout << "could read file "<< endl;
+		return -1;
+	}
+	ofstream os(argv[2]);
+	if (! os){
+		cout << "could write file "<< endl;
+		return -1;
+	}
+	unsigned int frame=0;
+	double neff=0;
+	while(is){
+			char buf[8192];
+			is.getline(buf, 8192);
+			istringstream lineStream(buf);
+			string recordType;
+			lineStream >> recordType;
+			if (recordType=="FRAME"){
+				lineStream>> frame;
+			}
+			if (recordType=="NEFF"){
+				lineStream>> neff;
+				os << frame << " " << neff << endl;
+			}
+	}
+	os.close();
+}