MRPT  2.0.1
CGridMapAlignerApp.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
13 
14 namespace mrpt::apps
15 {
16 /** grid-matching application wrapper class.
17  *
18  * \sa mrpt::slam::CGridMapAligner
19  * \ingroup mrpt_apps_grp
20  */
22 {
23  public:
25 
26  /** @name Main API
27  * @{ */
28 
29  /** Initializes the application from CLI parameters. Refer to the manpage of
30  * grid-matching. Throws on errors.
31  */
32  void initialize(int argc, const char** argv);
33 
34  inline void initialize(int argc, char** argv)
35  {
36  initialize(argc, const_cast<const char**>(argv));
37  }
38 
39  /** Runs with the current parameter set. Throws on errors. */
40  void run();
41 
42  /** @} */
43 
44  /** @name Parameters and options. See: initialize()
45  * @{ */
46 
47  bool SAVE_SOG_3DSCENE = false;
50  bool IS_VERBOSE = false;
51  bool NOSAVE = false;
52  bool SKIP_ICP_STAGE = false;
54 
55  std::string SAVE_ICP_GOODNESS_FIL = "";
56 
57  // Mode of operation
58  bool is_match = false, is_detect_test = false;
59 
60  std::string RESULTS_DIR = "GRID-MATCHING_RESULTS";
61  std::string fil_grid1, fil_grid2;
62  std::string OUTPUT_FIL;
63  std::string CONFIG_FIL;
64 
65  double STD_NOISE_XY = 0, STD_NOISE_PHI = 0;
66  double STD_NOISE_LASER = 0;
67  double GT_Ax = 0, GT_Ay = 0, GT_Aphi_rad = 0;
68 
69  bool NOISE_IN_LASER = false;
70  bool NOISE_IN_POSE = false;
71 
72  unsigned int N_ITERS = 1;
73 
76  /** @} */
77 
78  /** @name Outputs and result variables
79  * @{ */
82 
83  /** @} */
84 };
85 
86 } // namespace mrpt::apps
mrpt::poses::CPose2D estimateMean
TAlignerMethod
The type for selecting the grid-map alignment algorithm.
void initialize(int argc, char **argv)
void initialize(int argc, const char **argv)
Initializes the application from CLI parameters.
Versatile class for consistent logging and management of output messages.
mrpt::math::CMatrixDouble33 estimateCOV
grid-matching application wrapper class.
void run()
Runs with the current parameter set.
mrpt::slam::CGridMapAligner::TAlignerMethod aligner_method
const char * argv[]
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle...
Definition: CPose2D.h:39
const int argc



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