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test.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, 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 
10 #include <mrpt/system/CObserver.h>
11 #include <mrpt/obs/CObservation2DRangeScan.h>
12 #include <mrpt/maps/CSimplePointsMap.h>
13 #include <iostream>
14 
15 using namespace mrpt::obs;
16 using namespace mrpt::maps;
17 using namespace mrpt::poses;
18 using namespace mrpt::system;
19 using namespace std;
20 
21 // Load a example laser scan:
22 CObservation2DRangeScan getScan()
23 {
24 #define SCANS_SIZE 361
25  const float SCAN_RANGES_1[] = {
26  0.910f, 0.900f, 0.910f, 0.900f, 0.900f, 0.890f, 0.890f, 0.880f,
27  0.890f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.870f,
28  0.880f, 0.870f, 0.870f, 0.870f, 0.880f, 0.880f, 0.880f, 0.880f,
29  0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f,
30  0.880f, 0.880f, 0.880f, 0.880f, 0.890f, 0.880f, 0.880f, 0.880f,
31  0.890f, 0.880f, 0.890f, 0.890f, 0.880f, 0.890f, 0.890f, 0.880f,
32  0.890f, 0.890f, 0.890f, 0.890f, 0.890f, 0.890f, 0.900f, 0.900f,
33  0.900f, 0.900f, 0.900f, 0.910f, 0.910f, 0.910f, 0.910f, 0.920f,
34  0.920f, 0.920f, 0.920f, 0.920f, 0.930f, 0.930f, 0.930f, 0.930f,
35  0.940f, 0.940f, 0.950f, 0.950f, 0.950f, 0.950f, 0.960f, 0.960f,
36  0.970f, 0.970f, 0.970f, 0.980f, 0.980f, 0.990f, 1.000f, 1.000f,
37  1.000f, 1.010f, 1.010f, 1.020f, 1.030f, 1.030f, 1.030f, 1.040f,
38  1.050f, 1.060f, 1.050f, 1.060f, 1.070f, 1.070f, 1.080f, 1.080f,
39  1.090f, 1.100f, 1.110f, 1.120f, 1.120f, 1.130f, 1.140f, 1.140f,
40  1.160f, 1.170f, 1.180f, 1.180f, 1.190f, 1.200f, 1.220f, 1.220f,
41  1.230f, 1.230f, 1.240f, 1.250f, 1.270f, 1.280f, 1.290f, 1.300f,
42  1.320f, 1.320f, 1.350f, 1.360f, 1.370f, 1.390f, 1.410f, 1.410f,
43  1.420f, 1.430f, 1.450f, 1.470f, 1.490f, 1.500f, 1.520f, 1.530f,
44  1.560f, 1.580f, 1.600f, 1.620f, 1.650f, 1.670f, 1.700f, 1.730f,
45  1.750f, 1.780f, 1.800f, 1.830f, 1.850f, 1.880f, 1.910f, 1.940f,
46  1.980f, 2.010f, 2.060f, 2.090f, 2.130f, 2.180f, 2.220f, 2.250f,
47  2.300f, 2.350f, 2.410f, 2.460f, 2.520f, 2.570f, 2.640f, 2.700f,
48  2.780f, 2.850f, 2.930f, 3.010f, 3.100f, 3.200f, 3.300f, 3.390f,
49  3.500f, 3.620f, 3.770f, 3.920f, 4.070f, 4.230f, 4.430f, 4.610f,
50  4.820f, 5.040f, 5.290f, 5.520f, 8.970f, 8.960f, 8.950f, 8.930f,
51  8.940f, 8.930f, 9.050f, 9.970f, 9.960f, 10.110f, 13.960f, 18.870f,
52  19.290f, 81.910f, 20.890f, 48.750f, 48.840f, 48.840f, 19.970f, 19.980f,
53  19.990f, 15.410f, 20.010f, 19.740f, 17.650f, 17.400f, 14.360f, 12.860f,
54  11.260f, 11.230f, 8.550f, 8.630f, 9.120f, 9.120f, 8.670f, 8.570f,
55  7.230f, 7.080f, 7.040f, 6.980f, 6.970f, 5.260f, 5.030f, 4.830f,
56  4.620f, 4.440f, 4.390f, 4.410f, 4.410f, 4.410f, 4.430f, 4.440f,
57  4.460f, 4.460f, 4.490f, 4.510f, 4.540f, 3.970f, 3.820f, 3.730f,
58  3.640f, 3.550f, 3.460f, 3.400f, 3.320f, 3.300f, 3.320f, 3.320f,
59  3.340f, 2.790f, 2.640f, 2.600f, 2.570f, 2.540f, 2.530f, 2.510f,
60  2.490f, 2.490f, 2.480f, 2.470f, 2.460f, 2.460f, 2.460f, 2.450f,
61  2.450f, 2.450f, 2.460f, 2.460f, 2.470f, 2.480f, 2.490f, 2.490f,
62  2.520f, 2.510f, 2.550f, 2.570f, 2.610f, 2.640f, 2.980f, 3.040f,
63  3.010f, 2.980f, 2.940f, 2.920f, 2.890f, 2.870f, 2.830f, 2.810f,
64  2.780f, 2.760f, 2.740f, 2.720f, 2.690f, 2.670f, 2.650f, 2.630f,
65  2.620f, 2.610f, 2.590f, 2.560f, 2.550f, 2.530f, 2.510f, 2.500f,
66  2.480f, 2.460f, 2.450f, 2.430f, 2.420f, 2.400f, 2.390f, 2.380f,
67  2.360f, 2.350f, 2.340f, 2.330f, 2.310f, 2.300f, 2.290f, 2.280f,
68  2.270f, 2.260f, 2.250f, 2.240f, 2.230f, 2.230f, 2.220f, 2.210f,
69  2.200f, 2.190f, 2.180f, 2.170f, 1.320f, 1.140f, 1.130f, 1.130f,
70  1.120f, 1.120f, 1.110f, 1.110f, 1.110f, 1.110f, 1.100f, 1.110f,
71  1.100f};
72  const char SCAN_VALID_1[] = {
73  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
74  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
75  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
76  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
77  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
78  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
79  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
80  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
81  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
82  1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
83  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
84  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
85  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
86  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
87  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
88  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
89 
90  CObservation2DRangeScan scan1;
91  scan1.aperture = M_PIf;
92  scan1.rightToLeft = true;
93  ASSERT_(sizeof(SCAN_RANGES_1) == sizeof(float) * SCANS_SIZE);
94  scan1.loadFromVectors(SCANS_SIZE, SCAN_RANGES_1, SCAN_VALID_1);
95  return scan1;
96 }
97 
98 class MyObserver : public mrpt::system::CObserver
99 {
100  protected:
101  void OnEvent(const mrptEvent& e)
102  {
103  if (e.isOfType<mrptEventMetricMapClear>())
104  cout << "[MyObserver] Event received: mrptEventMetricMapClear\n";
105  else if (e.isOfType<mrptEventMetricMapInsert>())
106  cout << "[MyObserver] Event received: mrptEventMetricMapInsert\n";
107  else if (e.isOfType<mrptEventOnDestroy>())
108  cout << "[MyObserver] Event received: mrptEventOnDestroy\n";
109  else
110  cout << "[MyObserver] Event received: Generic mrptEvent \n";
111  }
112 };
113 
114 // ------------------------------------------------------
115 // TestObserverPattern
116 // ------------------------------------------------------
117 void TestObserverPattern()
118 {
119  CSimplePointsMap::Ptr map1 = mrpt::make_aligned_shared<CSimplePointsMap>();
120 
121  CObservation2DRangeScan obs = getScan();
122 
123  // Start observer:
124  MyObserver observer;
125  observer.observeBegin(*map1);
126 
127  // Insert:
128  for (int i = 0; i < 3; i++) map1->insertObservation(&obs);
129 
130  // Clear:
131  map1->clear();
132 
133  // Insert again:
134  map1->insertObservation(&obs);
135 
136  // Destroy
137  map1.reset();
138 }
139 
140 int main()
141 {
142  try
143  {
144  TestObserverPattern();
145 
146  return 0;
147  }
148  catch (exception& e)
149  {
150  cout << "MRPT exception caught: " << e.what() << endl;
151  return -1;
152  }
153  catch (...)
154  {
155  printf("Another exception!!");
156  return -1;
157  }
158 }
mrpt::system::mrptEvent
The basic event type for the observer-observable pattern in MRPT.
Definition: mrptEvent.h:33
mrpt::obs::CObservation2DRangeScan::loadFromVectors
void loadFromVectors(size_t nRays, const float *scanRanges, const char *scanValidity)
Definition: CObservation2DRangeScan.cpp:555
mrpt::maps::mrptEventMetricMapClear
Event emitted by a metric up upon call of clear()
Definition: CMetricMapEvents.h:29
mrpt::obs::CObservation2DRangeScan::rightToLeft
bool rightToLeft
The scanning direction: true=counterclockwise; false=clockwise.
Definition: CObservation2DRangeScan.h:127
mrpt::obs::CObservation2DRangeScan
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
Definition: CObservation2DRangeScan.h:56
MyObserver
Definition: vision_stereo_rectify/test.cpp:26
mrpt::system::CObserver::observeBegin
void observeBegin(CObservable &obj)
Starts the subscription of this observer to the given object.
Definition: CObserver.cpp:26
ASSERT_
#define ASSERT_(f)
Defines an assertion mechanism.
Definition: exceptions.h:113
mrpt::poses
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
Definition: CHierarchicalMapMHPartition.h:25
mrpt::obs
This namespace contains representation of robot actions and observations.
Definition: CParticleFilter.h:17
mrpt::system::mrptEvent::isOfType
bool isOfType() const
Definition: mrptEvent.h:42
main
int main()
Definition: vision_stereo_rectify/test.cpp:78
mrpt::obs::CObservation2DRangeScan::aperture
float aperture
The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees).
Definition: CObservation2DRangeScan.h:125
SCAN_RANGES_1
float SCAN_RANGES_1[]
Definition: vision_stereo_rectify/test.cpp:36
mrpt::maps::CSimplePointsMap::Ptr
std::shared_ptr< CSimplePointsMap > Ptr
Definition: CSimplePointsMap.h:33
observer
MyObserver observer
Definition: vision_stereo_rectify/test.cpp:71
mrpt::system::mrptEventOnDestroy
An event sent by any CObservable object (automatically) just before being destroyed and telling its o...
Definition: mrptEvent.h:67
CObserver.h
getScan
CObservation2DRangeScan getScan()
Definition: vision_stereo_rectify/test.cpp:22
mrpt::system::CObserver
Inherit from this class to get notified about events from any CObservable object after subscribing to...
Definition: CObserver.h:36
SCANS_SIZE
#define SCANS_SIZE
TestObserverPattern
void TestObserverPattern()
Definition: vision_stereo_rectify/test.cpp:117
M_PIf
#define M_PIf
Definition: common.h:61
SCAN_VALID_1
char SCAN_VALID_1[]
Definition: vision_stereo_rectify/test.cpp:83
mrpt::maps
Definition: CBeacon.h:24
CSimplePointsMap.h
mrpt::maps::mrptEventMetricMapInsert
Event emitted by a metric up upon a succesful call to insertObservation()
Definition: CMetricMapEvents.h:47
CObservation2DRangeScan.h
mrpt::system
This namespace provides a OS-independent interface to many useful functions: filenames manipulation,...
Definition: math_frwds.h:25


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