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9 #ifndef path_from_rtk_gps_H
10 #define path_from_rtk_gps_H
55 bool disableGPSInterp=
false,
56 int path_smooth_filter_size=2,
This class stores a rawlog (robotic datasets) in one of two possible formats:
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...
Used to return optional information from mrpt::topography::path_from_rtk_gps.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
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 time-stamped trajectory in SE(3) (CPose3D poses).
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.
std::map< TYPE1, TYPE2, std::less< TYPE1 >, Eigen::aligned_allocator< std::pair< const TYPE1, TYPE2 > > > map_t
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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