X-lanni
102 lines
2.1 KiB
C++
102 lines
2.1 KiB
C++
#ifndef GFSREADER_H
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#define GFSREADER_H
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#include <iostream>
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#include <fstream>
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#include <sstream>
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#include <vector>
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#include <list>
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#include <gmapping/utils/point.h>
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#define MAX_LINE_LENGHT (1000000)
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namespace GMapping{
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namespace GFSReader{
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using namespace std;
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struct Record{
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unsigned int dim;
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double time;
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virtual ~Record();
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virtual void read(istream& is)=0;
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virtual void write(ostream& os);
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};
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struct CommentRecord: public Record{
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string text;
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virtual void read(istream& is);
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virtual void write(ostream& os);
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};
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struct PoseRecord: public Record{
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PoseRecord(bool ideal=false);
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void read(istream& is);
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virtual void write(ostream& os);
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bool truePos;
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OrientedPoint pose;
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};
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struct NeffRecord: public Record{
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void read(istream& is);
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virtual void write(ostream& os);
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double neff;
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};
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struct EntropyRecord: public Record{
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void read(istream& is);
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virtual void write(ostream& os);
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double poseEntropy;
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double trajectoryEntropy;
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double mapEntropy;
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};
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struct OdometryRecord: public Record{
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virtual void read(istream& is);
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vector<OrientedPoint> poses;
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};
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struct RawOdometryRecord: public Record{
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virtual void read(istream& is);
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OrientedPoint pose;
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};
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struct ScanMatchRecord: public Record{
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virtual void read(istream& is);
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vector<OrientedPoint> poses;
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vector<double> weights;
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};
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struct LaserRecord: public Record{
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virtual void read(istream& is);
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virtual void write(ostream& os);
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vector<double> readings;
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OrientedPoint pose;
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double weight;
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};
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struct ResampleRecord: public Record{
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virtual void read(istream& is);
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vector<unsigned int> indexes;
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};
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struct RecordList: public list<Record*>{
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mutable int sampleSize;
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istream& read(istream& is);
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double getLogWeight(unsigned int i) const;
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double getLogWeight(unsigned int i, RecordList::const_iterator frame) const;
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unsigned int getBestIdx() const ;
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void printLastParticles(ostream& os) const ;
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void printPath(ostream& os, unsigned int i, bool err=false, bool rawodom=false) const;
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RecordList computePath(unsigned int i, RecordList::const_iterator frame) const;
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void destroyReferences();
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};
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}; //end namespace GFSReader
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}; //end namespace GMapping
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#endif
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