KFSLAMApp.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/config/CConfigFileMemory.h>
#include <mrpt/system/COutputLogger.h>
#include <memory>

namespace mrpt::apps
{
/** EKF-SLAM application wrapper class.
 *
 * \sa mrpt::slam::CRangeBearingKFSLAM2D, mrpt::slam::CRangeBearingKFSLAM
 * \ingroup mrpt_apps_grp
 */
class KFSLAMApp : public mrpt::system::COutputLogger
{
   public:
    KFSLAMApp();

    /** @name Main API
     * @{ */

    /** Initializes the application from CLI parameters. Refer to the manpage of
     * kf-slam. Throws on errors.
     */
    void initialize(int argc, const char** argv);

    inline void initialize(int argc, char** argv)
    {
        initialize(argc, const_cast<const char**>(argv));
    }

    /** Runs with the current parameter set. Throws on errors. */
    void run();

    /** @} */

    /** @name Parameters and options. See: initialize()
     * @{ */

    /** Populated in initialize(). Can be replaced or manipulated by the user
     * after that and before run() to change the parameters loaded from INI
     * file. */
    mrpt::config::CConfigFileMemory params;

    /** rawlog to process */
    std::string rawlogFileName;

    /** @} */

    /** @name Outputs and result variables
     * @{ */

    /** Average localization error, when supplied with a ground-truth file */
    double loc_error_wrt_gt = 0;

    /** @} */

   private:
    template <class IMPL>
    void Run_KF_SLAM();
};

}  // namespace mrpt::apps