MRPT  1.9.9
path_from_rtk_gps.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, 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 
11 #include <mrpt/math/TPoint3D.h>
12 #include <mrpt/obs/CRawlog.h>
13 #include <mrpt/poses/CPoint3D.h>
15 #include <map>
16 
17 namespace mrpt::topography
18 {
19 /** \addtogroup mrpt_topography_grp
20  * @{ */
21 
22 /** Used to return optional information from mrpt::topography::path_from_rtk_gps
23  */
25 {
26  /** the path of the "best" GPS. */
27  std::map<mrpt::Clock::time_point, mrpt::math::TPoint3D> best_gps_path;
28  /** A measure of the quality at each point (may be empty if not there is no
29  * enough information). */
30  std::map<mrpt::Clock::time_point, double> mahalabis_quality_measure;
31  /** The 6x6 covariance matrix for the uncertainty of each vehicle pose (may
32  * be empty if there is no W_star info). */
33  std::map<mrpt::Clock::time_point, mrpt::math::CMatrixDouble66>
35  /** The reference covariance matrix used to compute vehicle_uncertainty. */
37 };
38 
39 /** Reconstruct the path of a vehicle equipped with 3 RTK GPSs.
40  * \param robot_path [OUT] The reconstructed vehicle path
41  * \param rawlog [IN] The dataset. It must contain mrpt::obs::CObservationGPS
42  * observations with GGA datums.
43  * \param rawlog_first [IN] The index of the first entry to process (first=0)
44  * \param rawlog_last [IN] The index of the last entry to process
45  * \param isGUI [IN] If set to true, some progress dialogs will be shown
46  * during the computation (requires MRPT built with support for wxWidgets).
47  * \param disableGPSInterp [IN] Whether to interpolate missing GPS readings
48  * between very close datums.
49  * \param path_smooth_filter_size [IN] Size of the window in the pitch & roll
50  * noise filtering.
51  * \param outInfo [OUT] Optional output: additional information from the
52  * optimization
53  *
54  * For more details on the method, refer to the paper: (...)
55  * \sa mrpt::topography
56  */
59  const mrpt::obs::CRawlog& rawlog, size_t rawlog_first, size_t rawlog_last,
60  bool isGUI = false, bool disableGPSInterp = false,
61  int path_smooth_filter_size = 2, TPathFromRTKInfo* outInfo = nullptr);
62 
63 /** @} */ // end of grouping
64 
65 } // namespace mrpt::topography
Used to return optional information from mrpt::topography::path_from_rtk_gps.
std::map< mrpt::Clock::time_point, mrpt::math::CMatrixDouble66 > vehicle_uncertainty
The 6x6 covariance matrix for the uncertainty of each vehicle pose (may be empty if there is no W_sta...
This class stores a rawlog (robotic datasets) in one of two possible formats:
Definition: CRawlog.h:65
void path_from_rtk_gps(mrpt::poses::CPose3DInterpolator &robot_path, const mrpt::obs::CRawlog &rawlog, size_t rawlog_first, size_t rawlog_last, bool isGUI=false, bool disableGPSInterp=false, int path_smooth_filter_size=2, TPathFromRTKInfo *outInfo=nullptr)
Reconstruct the path of a vehicle equipped with 3 RTK GPSs.
std::map< mrpt::Clock::time_point, mrpt::math::TPoint3D > best_gps_path
the path of the "best" GPS.
mrpt::math::CMatrixDouble W_star
The reference covariance matrix used to compute vehicle_uncertainty.
This class stores a time-stamped trajectory in SE(3) (CPose3D poses).
std::map< mrpt::Clock::time_point, double > mahalabis_quality_measure
A measure of the quality at each point (may be empty if not there is no enough information).
This namespace provides topography helper functions, coordinate transformations.
Definition: conversions.h:21



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