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<div class="title">path_from_rtk_gps.h</div> </div>
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<a href="path__from__rtk__gps_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef path_from_rtk_gps_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define path_from_rtk_gps_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_interpolator_8h.html">mrpt/poses/CPose3DInterpolator.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="lightweight__geom__data_8h.html">mrpt/math/lightweight_geom_data.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_point3_d_8h.html">mrpt/poses/CPoint3D.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_rawlog_8h.html">mrpt/slam/CRawlog.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html">mrpt/topography/link_pragmas.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="keyword">namespace </span>mrpt
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 <span class="keyword">namespace </span>topography
<a name="l00042"></a>00042 {<span class="comment"></span>
<a name="l00043"></a>00043 <span class="comment"> /** \addtogroup mrpt_topography_grp</span>
<a name="l00044"></a>00044 <span class="comment"> * @{ */</span>
<a name="l00045"></a>00045 <span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment"> /** Used to return optional information from mrpt::topography::path_from_rtk_gps */</span>
<a name="l00047"></a>00047 <span class="keyword">struct </span><a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> TPathFromRTKInfo
<a name="l00048"></a>00048 {
<a name="l00049"></a><a class="code" href="structmrpt_1_1topography_1_1_t_path_from_r_t_k_info.html#ad93ec4c4f1c8b609e82ec2db47a31cbd">00049</a> std<a class="code" href="classstd_1_1map.html">::map<mrpt::system::TTimeStamp,mrpt::math::TPoint3D></a> <a class="code" href="structmrpt_1_1topography_1_1_t_path_from_r_t_k_info.html#ad93ec4c4f1c8b609e82ec2db47a31cbd" title="the path of the "best" GPS.">best_gps_path</a>; <span class="comment">//!< the path of the "best" GPS.</span>
<a name="l00050"></a><a class="code" href="structmrpt_1_1topography_1_1_t_path_from_r_t_k_info.html#a777b9ca4f016ca68d44308fc20701fd8">00050</a> <span class="comment"></span> std<a class="code" href="classstd_1_1map.html">::map<mrpt::system::TTimeStamp, double></a> <a class="code" href="structmrpt_1_1topography_1_1_t_path_from_r_t_k_info.html#a777b9ca4f016ca68d44308fc20701fd8" title="A measure of the quality at each point (may be empty if not there is no enough information).">mahalabis_quality_measure</a>; <span class="comment">//!< A measure of the quality at each point (may be empty if not there is no enough information).</span>
<a name="l00051"></a><a class="code" href="structmrpt_1_1topography_1_1_t_path_from_r_t_k_info.html#aa62a6519eba32572d731326ee16e8672">00051</a> <span class="comment"></span> std<a class="code" href="classstd_1_1map.html">::map<mrpt::system::TTimeStamp, mrpt::math::CMatrixDouble66 ></a> <a class="code" href="structmrpt_1_1topography_1_1_t_path_from_r_t_k_info.html#aa62a6519eba32572d731326ee16e8672" title="The 6x6 covariance matrix for the uncertainty of each vehicle pose (may be empty if there is no W_sta...">vehicle_uncertainty</a>; <span class="comment">//!< The 6x6 covariance matrix for the uncertainty of each vehicle pose (may be empty if there is no W_star info).</span>
<a name="l00052"></a><a class="code" href="structmrpt_1_1topography_1_1_t_path_from_r_t_k_info.html#a56b7dc29e3a39be30790ff09630ad0f3">00052</a> <span class="comment"></span> mrpt<a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">::math::CMatrixDouble</a> <a class="code" href="structmrpt_1_1topography_1_1_t_path_from_r_t_k_info.html#a56b7dc29e3a39be30790ff09630ad0f3" title="The reference covariance matrix used to compute vehicle_uncertainty.">W_star</a>; <span class="comment">//!< The reference covariance matrix used to compute vehicle_uncertainty.</span>
<a name="l00053"></a>00053 <span class="comment"></span> };
<a name="l00054"></a>00054 <span class="comment"></span>
<a name="l00055"></a>00055 <span class="comment"> /** Reconstruct the path of a vehicle equipped with 3 RTK GPSs.</span>
<a name="l00056"></a>00056 <span class="comment"> * \param robot_path [OUT] The reconstructed vehicle path</span>
<a name="l00057"></a>00057 <span class="comment"> * \param rawlog [IN] The dataset</span>
<a name="l00058"></a>00058 <span class="comment"> * \param rawlog_first [IN] The index of the first entry to process (first=0)</span>
<a name="l00059"></a>00059 <span class="comment"> * \param rawlog_last [IN] The index of the last entry to process</span>
<a name="l00060"></a>00060 <span class="comment"> * \param isGUI [IN] If set to true, some progress dialogs will be shown during the computation (requires MRPT built with support for wxWidgets).</span>
<a name="l00061"></a>00061 <span class="comment"> * \param disableGPSInterp [IN] Whether to interpolate missing GPS readings between very close datums.</span>
<a name="l00062"></a>00062 <span class="comment"> * \param path_smooth_filter_size [IN] Size of the window in the pitch & roll noise filtering.</span>
<a name="l00063"></a>00063 <span class="comment"> * \param outInfo [OUT] Optional output: additional information from the optimization</span>
<a name="l00064"></a>00064 <span class="comment"> *</span>
<a name="l00065"></a>00065 <span class="comment"> * For more details on the method, refer to the paper: (...)</span>
<a name="l00066"></a>00066 <span class="comment"> * \sa mrpt::topography</span>
<a name="l00067"></a>00067 <span class="comment"> */</span>
<a name="l00068"></a>00068 <span class="keywordtype">void</span> <a class="code" href="topography_2include_2mrpt_2topography_2link__pragmas_8h.html#a982c0d24b52c7b11f2b1934de1b65667">TOPO_IMPEXP</a> <a class="code" href="group__mrpt__topography__grp.html#ga9c017d0f875ed7f8cd455ec0c5d7fe56" title="Reconstruct the path of a vehicle equipped with 3 RTK GPSs.">path_from_rtk_gps</a>(
<a name="l00069"></a>00069 <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_interpolator.html" title="A trajectory in time and in 6D (CPose3D) that interpolates using splines the intervals between a set ...">mrpt::poses::CPose3DInterpolator</a> &robot_path,
<a name="l00070"></a>00070 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_rawlog.html" title="This class stores a rawlog (robotic datasets) in one of two possible formats:">mrpt::slam::CRawlog</a> &rawlog,
<a name="l00071"></a>00071 <span class="keywordtype">size_t</span> rawlog_first,
<a name="l00072"></a>00072 <span class="keywordtype">size_t</span> rawlog_last,
<a name="l00073"></a>00073 <span class="keywordtype">bool</span> isGUI=<span class="keyword">false</span>,
<a name="l00074"></a>00074 <span class="keywordtype">bool</span> disableGPSInterp=<span class="keyword">false</span>,
<a name="l00075"></a>00075 <span class="keywordtype">int</span> path_smooth_filter_size=2,
<a name="l00076"></a>00076 <a class="code" href="structmrpt_1_1topography_1_1_t_path_from_r_t_k_info.html" title="Used to return optional information from mrpt::topography::path_from_rtk_gps.">TPathFromRTKInfo</a> *outInfo = NULL
<a name="l00077"></a>00077 );
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** @} */</span> <span class="comment">// end of grouping</span>
<a name="l00081"></a>00081
<a name="l00082"></a>00082 } <span class="comment">// End of namespace</span>
<a name="l00083"></a>00083
<a name="l00084"></a>00084 } <span class="comment">// End of namespace</span>
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="preprocessor">#endif</span>
</pre></div></div>
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