X-lanni
97 lines
2.8 KiB
C++
97 lines
2.8 KiB
C++
/*****************************************************************
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*
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* This file is part of the GMAPPING project
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*
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* GMAPPING Copyright (c) 2004 Giorgio Grisetti,
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* Cyrill Stachniss, and Wolfram Burgard
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*
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* This software is licensed under the "Creative Commons
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* License (Attribution-NonCommercial-ShareAlike 2.0)"
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* and is copyrighted by Giorgio Grisetti, Cyrill Stachniss,
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* and Wolfram Burgard.
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*
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* Further information on this license can be found at:
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* http://creativecommons.org/licenses/by-nc-sa/2.0/
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*
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* GMAPPING is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE.
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*
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*****************************************************************/
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#include "qparticleviewer.h"
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#include "qgraphpainter.h"
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#include <qapplication.h>
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#include <qframe.h>
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#include <qlabel.h>
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#include <qlayout.h>
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#include <QVBoxLayout>
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#include <qmainwindow.h>
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class GFSMainWindow: public QMainWindow{
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public:
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GFSMainWindow(GridSlamProcessorThread* t){
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gsp_thread=t;
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QVBoxLayout* layout=new QVBoxLayout(this);
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pviewer=new QParticleViewer(this,0,0,gsp_thread);
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pviewer->setGeometry(0,0,500,500);
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pviewer->setFocusPolicy(Qt::ClickFocus);
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layout->addWidget(pviewer);
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gpainter=new QGraphPainter(this);
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gpainter->setFixedHeight(100);
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layout->addWidget(gpainter);
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gpainter->setRange(0,1);
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gpainter->setTitle("Neff");
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help = new QLabel(QString("+/- - zoom | b - show/hide best path | p - show/hide all paths | c - center robot "),this);
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help->setMaximumHeight(30);
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layout->addWidget(help);
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QObject::connect( pviewer, SIGNAL(neffChanged(double) ), gpainter, SLOT(valueAdded(double)) );
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setTabOrder(pviewer, pviewer);
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}
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void start(int c){
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pviewer->start(c);
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gpainter->start(c);
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}
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protected:
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GridSlamProcessorThread* gsp_thread;
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QVBoxLayout* layout;
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QParticleViewer* pviewer;
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QGraphPainter* gpainter;
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QLabel* help;
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};
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int main (int argc, char ** argv){
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cerr << "GMAPPING copyright 2004 by Giorgio Grisetti, Cyrill Stachniss," << endl ;
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cerr << "and Wolfram Burgard. To be published under the CreativeCommons license," << endl;
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cerr << "see: http://creativecommons.org/licenses/by-nc-sa/2.0/" << endl << endl;
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GridSlamProcessorThread* gsp= new GridSlamProcessorThread;
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if (gsp->init(argc, argv)){
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cerr << "GridFastSlam: Initialization Error!" << endl;
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cerr << "(Did you specified an input file for reading?)" << endl;
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return -1;
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}
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if (gsp->loadFiles()){
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cerr <<"Error reading file!"<< endl;
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return -2;
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}
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cerr <<"File successfully loaded!"<< endl;
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QApplication app(argc, argv);
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GFSMainWindow* mainWin=new GFSMainWindow(gsp);
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mainWin->show();
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gsp->setEventBufferSize(10000);
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gsp->start();
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mainWin->start(1000);
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return app.exec();
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}
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