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path_from_rtk_gps.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef  path_from_rtk_gps_H
00029 #define  path_from_rtk_gps_H
00030 
00031 #include <mrpt/poses/CPose3DInterpolator.h>
00032 #include <mrpt/math/lightweight_geom_data.h>
00033 #include <mrpt/poses/CPoint3D.h>
00034 #include <mrpt/slam/CRawlog.h>
00035 
00036 #include <mrpt/topography/link_pragmas.h>
00037 
00038 
00039 namespace mrpt
00040 {
00041         namespace topography
00042         {
00043 
00044                 /** Used to return optional information from mrpt::topography::path_from_rtk_gps */
00045                 struct TOPO_IMPEXP TPathFromRTKInfo
00046                 {
00047                         std::map<mrpt::system::TTimeStamp,mrpt::math::TPoint3D> best_gps_path; //!< the path of the "best" GPS.
00048                         std::map<mrpt::system::TTimeStamp, double> mahalabis_quality_measure; //!< A measure of the quality at each point (may be empty if not there is no enough information).
00049                         std::map<mrpt::system::TTimeStamp, mrpt::math::CMatrixDouble66 > vehicle_uncertainty; //!< The 6x6 covariance matrix for the uncertainty of each vehicle pose (may be empty if there is no W_star info).
00050                         mrpt::math::CMatrixDouble                       W_star; //!< The reference covariance matrix used to compute vehicle_uncertainty.
00051                 };
00052 
00053                 /** Reconstruct the path of a vehicle equipped with 3 RTK GPSs.
00054                   *  \param robot_path [OUT] The reconstructed vehicle path
00055                   *  \param rawlog [IN] The dataset
00056                   *  \param rawlog_first [IN] The index of the first entry to process (first=0)
00057                   *  \param rawlog_last [IN] The index of the last entry to process
00058                   *  \param isGUI [IN] If set to true, some progress dialogs will be shown during the computation (requires MRPT built with support for wxWidgets).
00059                   *  \param disableGPSInterp [IN] Whether to interpolate missing GPS readings between very close datums.
00060                   *  \param path_smooth_filter_size [IN] Size of the window in the pitch & roll noise filtering.
00061                   *  \param outInfo [OUT] Optional output: additional information from the optimization
00062                   *
00063                   *  For more details on the method, refer to the paper: (...)
00064                   * \sa mrpt::topography
00065                   */
00066                 void  TOPO_IMPEXP path_from_rtk_gps(
00067                         mrpt::poses::CPose3DInterpolator        &robot_path,
00068                         const mrpt::slam::CRawlog                       &rawlog,
00069                         size_t                                                          rawlog_first,
00070                         size_t                                                          rawlog_last,
00071                         bool                                                            isGUI=false,
00072                         bool                                                            disableGPSInterp=false,
00073                         int                                                                     path_smooth_filter_size=2,
00074                         TPathFromRTKInfo                                        *outInfo = NULL
00075                         );
00076 
00077         } // End of namespace
00078 
00079 } // End of namespace
00080 
00081 #endif



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