X-lanni
65 lines
1.9 KiB
C++
65 lines
1.9 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 <unistd.h>
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#include "gsp_thread.h"
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using namespace GMapping;
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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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cout << "GSP INIT ERROR" << endl;
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return -1;
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}
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cout <<"GSP INITIALIZED"<< endl;
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if (gsp->loadFiles()){
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cout <<"GSP READFILE ERROR"<< endl;
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return -2;
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}
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cout <<"FILES LOADED"<< endl;
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gsp->setMapUpdateTime(1000000);
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gsp->start();
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cout <<"THREAD STARTED"<< endl;
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bool done=false;
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while (!done){
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GridSlamProcessorThread::EventDeque events=gsp->getEvents();
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for (GridSlamProcessorThread::EventDeque::iterator it=events.begin(); it!=events.end(); it++){
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cout << flush;
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GridSlamProcessorThread::DoneEvent* doneEvent=dynamic_cast<GridSlamProcessorThread::DoneEvent*>(*it);
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if (doneEvent){
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done=true;
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cout <<"DONE!"<< endl;
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gsp->stop();
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}
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if (*it)
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delete(*it);
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}
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}
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}
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