MRPT  2.0.4
KFSLAMApp.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, 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 
14 #include <memory>
15 
16 namespace mrpt::apps
17 {
18 /** EKF-SLAM application wrapper class.
19  *
20  * \sa mrpt::slam::CRangeBearingKFSLAM2D, mrpt::slam::CRangeBearingKFSLAM
21  * \ingroup mrpt_apps_grp
22  */
24 {
25  public:
26  KFSLAMApp();
27 
28  /** @name Main API
29  * @{ */
30 
31  /** Initializes the application from CLI parameters. Refer to the manpage of
32  * kf-slam. Throws on errors.
33  */
34  void initialize(int argc, const char** argv);
35 
36  inline void initialize(int argc, char** argv)
37  {
38  initialize(argc, const_cast<const char**>(argv));
39  }
40 
41  /** Runs with the current parameter set. Throws on errors. */
42  void run();
43 
44  /** @} */
45 
46  /** @name Parameters and options. See: initialize()
47  * @{ */
48 
49  /** Populated in initialize(). Can be replaced or manipulated by the user
50  * after that and before run() to change the parameters loaded from INI
51  * file. */
53 
54  /** rawlog to process */
55  std::string rawlogFileName;
56 
57  /** @} */
58 
59  /** @name Outputs and result variables
60  * @{ */
61 
62  /** Average localization error, when supplied with a ground-truth file */
63  double loc_error_wrt_gt = 0;
64 
65  /** @} */
66 
67  private:
68  template <class IMPL>
69  void Run_KF_SLAM();
70 };
71 
72 } // namespace mrpt::apps
This class implements a config file-like interface over a memory-stored string list.
EKF-SLAM application wrapper class.
Definition: KFSLAMApp.h:23
void initialize(int argc, const char **argv)
Initializes the application from CLI parameters.
Definition: KFSLAMApp.cpp:35
std::string rawlogFileName
rawlog to process
Definition: KFSLAMApp.h:55
mrpt::config::CConfigFileMemory params
Populated in initialize().
Definition: KFSLAMApp.h:52
void run()
Runs with the current parameter set.
Definition: KFSLAMApp.cpp:67
Versatile class for consistent logging and management of output messages.
const char * argv[]
double loc_error_wrt_gt
Average localization error, when supplied with a ground-truth file.
Definition: KFSLAMApp.h:63
void initialize(int argc, char **argv)
Definition: KFSLAMApp.h:36
const int argc



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