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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) 2005-2016, 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
20namespace 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
This class stores a rawlog (robotic datasets) in one of two possible formats:
Definition: obs/CRawlog.h:53
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.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
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::math::CMatrixDouble W_star
The reference covariance matrix used to compute vehicle_uncertainty.
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).
std::map< mrpt::system::TTimeStamp, mrpt::math::TPoint3D > best_gps_path
the path of the "best" GPS.



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