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path_from_rtk_gps.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef path_from_rtk_gps_H
10 #define path_from_rtk_gps_H
11 
14 #include <mrpt/poses/CPoint3D.h>
15 #include <mrpt/obs/CRawlog.h>
16 
18 
19 
20 namespace mrpt
21 {
22  namespace topography
23  {
24  /** \addtogroup mrpt_topography_grp
25  * @{ */
26 
27  /** Used to return optional information from mrpt::topography::path_from_rtk_gps */
29  {
30  std::map<mrpt::system::TTimeStamp,mrpt::math::TPoint3D> best_gps_path; //!< the path of the "best" GPS.
31  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).
32  mrpt::aligned_containers<mrpt::system::TTimeStamp, mrpt::math::CMatrixDouble66 >::map_t vehicle_uncertainty; //!< The 6x6 covariance matrix for the uncertainty of each vehicle pose (may be empty if there is no W_star info).
33  mrpt::math::CMatrixDouble W_star; //!< The reference covariance matrix used to compute vehicle_uncertainty.
34  };
35 
36  /** Reconstruct the path of a vehicle equipped with 3 RTK GPSs.
37  * \param robot_path [OUT] The reconstructed vehicle path
38  * \param rawlog [IN] The dataset. It must contain mrpt::obs::CObservationGPS observations with GGA datums.
39  * \param rawlog_first [IN] The index of the first entry to process (first=0)
40  * \param rawlog_last [IN] The index of the last entry to process
41  * \param isGUI [IN] If set to true, some progress dialogs will be shown during the computation (requires MRPT built with support for wxWidgets).
42  * \param disableGPSInterp [IN] Whether to interpolate missing GPS readings between very close datums.
43  * \param path_smooth_filter_size [IN] Size of the window in the pitch & roll noise filtering.
44  * \param outInfo [OUT] Optional output: additional information from the optimization
45  *
46  * For more details on the method, refer to the paper: (...)
47  * \sa mrpt::topography
48  */
51  const mrpt::obs::CRawlog &rawlog,
52  size_t rawlog_first,
53  size_t rawlog_last,
54  bool isGUI=false,
55  bool disableGPSInterp=false,
56  int path_smooth_filter_size=2,
57  TPathFromRTKInfo *outInfo = NULL
58  );
59 
60 
61  /** @} */ // end of grouping
62 
63  } // End of namespace
64 
65 } // End of namespace
66 
67 #endif
std::map< TYPE1, TYPE2, std::less< TYPE1 >, Eigen::aligned_allocator< std::pair< const TYPE1, TYPE2 > > > map_t
Used to return optional information from mrpt::topography::path_from_rtk_gps.
mrpt::aligned_containers< mrpt::system::TTimeStamp, mrpt::math::CMatrixDouble66 >::map_t vehicle_uncertainty
The 6x6 covariance matrix for the uncertainty of each vehicle pose (may be empty if there is no W_sta...
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).
This class stores a rawlog (robotic datasets) in one of two possible formats:
Definition: obs/CRawlog.h:52
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::map< mrpt::system::TTimeStamp, 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).
void TOPO_IMPEXP 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=NULL)
Reconstruct the path of a vehicle equipped with 3 RTK GPSs.



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