/* +---------------------------------------------------------------------------+
| The Mobile Robot Programming Toolkit (MRPT) C++ library |
| |
| http://www.mrpt.org/ |
| |
| 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/utils.h>
#include <mrpt/slam.h>
using namespace mrpt::utils;
using namespace mrpt::slam;
using namespace mrpt::poses;
using namespace std;
// Load a example laser scan:
CObservation2DRangeScan getScan()
{
#define SCANS_SIZE 361
const float SCAN_RANGES_1[] = {0.910f,0.900f,0.910f,0.900f,0.900f,0.890f,0.890f,0.880f,0.890f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.870f,0.880f,0.870f,0.870f,0.870f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.890f,0.880f,0.880f,0.880f,0.890f,0.880f,0.890f,0.890f,0.880f,0.890f,0.890f,0.880f,0.890f,0.890f,0.890f,0.890f,0.890f,0.890f,0.900f,0.900f,0.900f,0.900f,0.900f,0.910f,0.910f,0.910f,0.910f,0.920f,0.920f,0.920f,0.920f,0.920f,0.930f,0.930f,0.930f,0.930f,0.940f,0.940f,0.950f,0.950f,0.950f,0.950f,0.960f,0.960f,0.970f,0.970f,0.970f,0.980f,0.980f,0.990f,1.000f,1.000f,1.000f,1.010f,1.010f,1.020f,1.030f,1.030f,1.030f,1.040f,1.050f,1.060f,1.050f,1.060f,1.070f,1.070f,1.080f,1.080f,1.090f,1.100f,1.110f,1.120f,1.120f,1.130f,1.140f,1.140f,1.160f,1.170f,1.180f,1.180f,1.190f,1.200f,1.220f,1.220f,1.230f,1.230f,1.240f,1.250f,1.270f,1.280f,1.290f,1.300f,1.320f,1.320f,1.350f,1.360f,1.370f,1.390f,1.410f,1.410f,1.420f,1.430f,1.450f,1.470f,1.490f,1.500f,1.520f,1.530f,1.560f,1.580f,1.600f,1.620f,1.650f,1.670f,1.700f,1.730f,1.750f,1.780f,1.800f,1.830f,1.850f,1.880f,1.910f,1.940f,1.980f,2.010f,2.060f,2.090f,2.130f,2.180f,2.220f,2.250f,2.300f,2.350f,2.410f,2.460f,2.520f,2.570f,2.640f,2.700f,2.780f,2.850f,2.930f,3.010f,3.100f,3.200f,3.300f,3.390f,3.500f,3.620f,3.770f,3.920f,4.070f,4.230f,4.430f,4.610f,4.820f,5.040f,5.290f,5.520f,8.970f,8.960f,8.950f,8.930f,8.940f,8.930f,9.050f,9.970f,9.960f,10.110f,13.960f,18.870f,19.290f,81.910f,20.890f,48.750f,48.840f,48.840f,19.970f,19.980f,19.990f,15.410f,20.010f,19.740f,17.650f,17.400f,14.360f,12.860f,11.260f,11.230f,8.550f,8.630f,9.120f,9.120f,8.670f,8.570f,7.230f,7.080f,7.040f,6.980f,6.970f,5.260f,5.030f,4.830f,4.620f,4.440f,4.390f,4.410f,4.410f,4.410f,4.430f,4.440f,4.460f,4.460f,4.490f,4.510f,4.540f,3.970f,3.820f,3.730f,3.640f,3.550f,3.460f,3.400f,3.320f,3.300f,3.320f,3.320f,3.340f,2.790f,2.640f,2.600f,2.570f,2.540f,2.530f,2.510f,2.490f,2.490f,2.480f,2.470f,2.460f,2.460f,2.460f,2.450f,2.450f,2.450f,2.460f,2.460f,2.470f,2.480f,2.490f,2.490f,2.520f,2.510f,2.550f,2.570f,2.610f,2.640f,2.980f,3.040f,3.010f,2.980f,2.940f,2.920f,2.890f,2.870f,2.830f,2.810f,2.780f,2.760f,2.740f,2.720f,2.690f,2.670f,2.650f,2.630f,2.620f,2.610f,2.590f,2.560f,2.550f,2.530f,2.510f,2.500f,2.480f,2.460f,2.450f,2.430f,2.420f,2.400f,2.390f,2.380f,2.360f,2.350f,2.340f,2.330f,2.310f,2.300f,2.290f,2.280f,2.270f,2.260f,2.250f,2.240f,2.230f,2.230f,2.220f,2.210f,2.200f,2.190f,2.180f,2.170f,1.320f,1.140f,1.130f,1.130f,1.120f,1.120f,1.110f,1.110f,1.110f,1.110f,1.100f,1.110f,1.100f};
const char SCAN_VALID_1[] = {1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1};
CObservation2DRangeScan scan1;
scan1.aperture = M_PIf;
scan1.rightToLeft = true;
scan1.validRange.resize( SCANS_SIZE );
scan1.scan.resize(SCANS_SIZE);
ASSERT_( sizeof(SCAN_RANGES_1) == sizeof(float)*SCANS_SIZE );
memcpy( &scan1.scan[0], SCAN_RANGES_1, sizeof(SCAN_RANGES_1) );
memcpy( &scan1.validRange[0], SCAN_VALID_1, sizeof(SCAN_VALID_1) );
return scan1;
}
class MyObserver : public mrpt::utils::CObserver
{
protected:
void OnEvent(const mrptEvent &e)
{
if (e.isOfType<mrptEventMetricMapClear>())
cout << "[MyObserver] Event received: mrptEventMetricMapClear\n";
else if (e.isOfType<mrptEventMetricMapInsert>())
cout << "[MyObserver] Event received: mrptEventMetricMapInsert\n";
else if (e.isOfType<mrptEventOnDestroy>())
cout << "[MyObserver] Event received: mrptEventOnDestroy\n";
else
cout << "[MyObserver] Event received: Generic mrptEvent \n";
}
};
// ------------------------------------------------------
// TestObserverPattern
// ------------------------------------------------------
void TestObserverPattern()
{
CSimplePointsMapPtr map1 = CSimplePointsMap::Create();
CObservation2DRangeScan obs = getScan();
// Start observer:
MyObserver observer;
observer.observeBegin(*map1);
// Insert:
for (int i=0;i<3;i++)
map1->insertObservation(&obs);
// Clear:
map1->clear();
// Insert again:
map1->insertObservation(&obs);
// Destroy
map1.clear();
}
int main()
{
try
{
TestObserverPattern();
return 0;
} catch (exception &e)
{
cout << "MRPT exception caught: " << e.what() << endl;
return -1;
}
catch (...)
{
printf("Another exception!!");
return -1;
}
}
