/* +---------------------------------------------------------------------------+ | The Mobile Robot Programming Toolkit (MRPT) C++ library | | | | http://mrpt.sourceforge.net/ | | | | Copyright (C) 2005-2011 University of Malaga | | | | This software was written by the Machine Perception and Intelligent | | Robotics Lab, University of Malaga (Spain). | | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | | | | This file is part of the MRPT project. | | | | MRPT is free software: you can redistribute it and/or modify | | it under the terms of the GNU General Public License as published by | | the Free Software Foundation, either version 3 of the License, or | | (at your option) any later version. | | | | MRPT is distributed in the hope that it will be useful, | | but WITHOUT ANY WARRANTY; without even the implied warranty of | | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | | GNU General Public License for more details. | | | | You should have received a copy of the GNU General Public License | | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | | | +---------------------------------------------------------------------------+ */ #include <mrpt/slam.h> using namespace mrpt; using namespace mrpt::utils; using namespace mrpt::slam; using namespace mrpt::system; using namespace mrpt::random; using namespace std; float SIGMA = 0.03f; // ------------------------------------------------------ // TestRS // ------------------------------------------------------ void TestRS() { randomGenerator.randomize(); // Load the map: CMultiMetricMap map; mrpt::slam::TSetOfMetricMapInitializers mapInit; mapInit.loadFromConfigFile( CConfigFile("_demo_map.ini"),"MetricMap"); map.setListOfMaps( &mapInit ); // Create a dummy observation: mrpt::slam::CObservationBeaconRanges obs; mrpt::slam::CObservationBeaconRanges::TMeasurement meas; obs.stdError = SIGMA; meas.beaconID = 0; meas.sensedDistance = 2.1f; meas.sensorLocationOnRobot = CPoint3D(0,0,0); obs.sensedData.push_back( meas ); meas.beaconID = 1; meas.sensedDistance = 3.1f; meas.sensorLocationOnRobot = CPoint3D(0,0,0); obs.sensedData.push_back( meas ); meas.beaconID = 2; meas.sensedDistance = 1.1f; meas.sensorLocationOnRobot = CPoint3D(0,0,0); // obs.sensedData.push_back( meas ); // Rejection Sampling: CRejectionSamplingRangeOnlyLocalization RS; vector<CRejectionSamplingRangeOnlyLocalization::TParticle> samples; CTicTac tictac; // Set data: ASSERT_(map.m_landmarksMap); printf("Preparing..."); tictac.Tic(); CPose2D dumPose(0,0,0); RS.setParams( *map.m_landmarksMap, obs, SIGMA, dumPose ); printf("Ok! %fms\n",1000*tictac.Tac()); printf("Computing..."); tictac.Tic(); RS.rejectionSampling( 1000,samples, 1000 ); printf("Ok! %fms\n",1000*tictac.Tac()); FILE *f = os::fopen( "_out_samples.txt","wt"); vector<CRejectionSamplingRangeOnlyLocalization::TParticle>::iterator it; for (it=samples.begin();it!=samples.end();it++) os::fprintf(f,"%f %f %f %e\n",it->d->x(),it->d->y(),it->d->phi(),it->log_w ); os::fclose(f); } // ------------------------------------------------------ // MAIN // ------------------------------------------------------ int main() { try { TestRS(); return 0; } catch (exception &e) { cout << "EXCEPCTION: " << e.what() << endl; return -1; } catch (...) { printf("Untyped excepcion!!"); return -1; } }