add slam_gmapping

2025-06-06 16:15:07 +08:00
parent 9187b9fb85
commit a7b75c31cb
141 changed files with 15992 additions and 0 deletions
@@ -0,0 +1,17 @@
+#ifndef CONFIGURATION_H
+#define CONFIGURATION_H
+
+#include <istream>
+#include <gmapping/sensor/sensor_base/sensor.h>
+
+namespace GMapping {
+
+class Configuration{
+	public:
+		virtual ~Configuration();
+		virtual SensorMap computeSensorMap() const=0;
+};
+
+};
+#endif
+
@@ -0,0 +1,29 @@
+#ifndef SENSORLOG_H
+#define SENSORLOG_H
+
+#include <list>
+#include <istream>
+#include <gmapping/sensor/sensor_base/sensorreading.h>
+#include <gmapping/sensor/sensor_odometry/odometrysensor.h>
+#include <gmapping/sensor/sensor_range/rangesensor.h>
+#include <gmapping/sensor/sensor_odometry/odometryreading.h>
+#include <gmapping/sensor/sensor_range/rangereading.h>
+#include "configuration.h"
+
+namespace GMapping {
+
+class SensorLog : public std::list<SensorReading*>{
+	public:
+		SensorLog(const SensorMap&);
+		~SensorLog();
+		std::istream& load(std::istream& is);
+		OrientedPoint boundingBox(double& xmin, double& ymin, double& xmax, double& ymax) const;
+	protected:
+		const SensorMap& m_sensorMap;
+		OdometryReading* parseOdometry(std::istream& is, const OdometrySensor* ) const;
+		RangeReading* parseRange(std::istream& is, const RangeSensor* ) const;
+};
+
+};
+
+#endif