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 00029 #ifndef CARMEN_LOG_TOOLS_H 00030 #define CARMEN_LOG_TOOLS_H 00031 00032 #include <mrpt/system/datetime.h> 00033 #include <mrpt/slam/CObservation.h> 00034 00035 namespace mrpt 00036 { 00037 namespace slam 00038 { 00039 /** Parse one line from an text input stream and interpret it as a CARMEN log entry, 00040 * returning its MRPT observation representation. 00041 * 00042 * The first word in each line determines the type of that entry. Supported 00043 * line entries in this class are the following: 00044 * - "ROBOTLASER(.*)": A joint odometry-laser entry. This function will return both an mrpt::slam::CObservationOdometry and an mrpt::slam::CObservation2DRangeScan 00045 * - "FLASER": (Idem) 00046 * - "RLASER": (Idem) 00047 * - "PARAM": This case is special (read below). 00048 * 00049 * Note that the sensor position on the robot will be always deduced from the corresponding CARMEN log line automatically. 00050 * 00051 * The following entry types will be IGNORED, since with the tags above will be enough in most applications. 00052 * - "ODOM" 00053 * - "RAWLASER" 00054 * 00055 * About the PARAM entries: This functions has an internal static status consisting on some PARAM values 00056 * which have effects on the future read observations. When the function finds one of these, it stores the 00057 * parameter value, return an empty vector of observations, and use those values for future laser entries of types FLASER or RLASER. 00058 * Currently, only these parameters are processed: 00059 * - "robot_front_laser_max" 00060 * - "laser_front_laser_resolution" 00061 * - "robot_rear_laser_max" 00062 * - "laser_rear_laser_resolution" 00063 * 00064 * \param time_start_log The real timestamp that corresponds to a "0" in the CARMEN log (you can get a mrpt::system::now() once and pass that same value with each call). 00065 * 00066 * References: http://carmen.sourceforge.net/doc/binary__loggerplayback.html 00067 * 00068 * \return true on success, false on end-of-file (EOF). 00069 * \exception std::runtime_error On any invalid line found. 00070 */ 00071 bool OBS_IMPEXP carmen_log_parse_line( 00072 std::istream &in_stream, 00073 std::vector<mrpt::slam::CObservationPtr> &out_imported_observations, 00074 const mrpt::system::TTimeStamp &time_start_log ); 00075 00076 00077 } // end NS 00078 } // end NS 00079 #endif
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