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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) 2005-2018, 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 #pragma once
10 
13 #include <mrpt/poses/CPoint3D.h>
14 #include <mrpt/obs/CRawlog.h>
16 
17 namespace mrpt
18 {
19 namespace topography
20 {
21 /** \addtogroup mrpt_topography_grp
22  * @{ */
23 
24 /** Used to return optional information from mrpt::topography::path_from_rtk_gps
25  */
27 {
28  /** the path of the "best" GPS. */
29  std::map<mrpt::system::TTimeStamp, mrpt::math::TPoint3D> best_gps_path;
30  /** A measure of the quality at each point (may be empty if not there is no
31  * enough information). */
32  std::map<mrpt::system::TTimeStamp, double> mahalabis_quality_measure;
33  /** The 6x6 covariance matrix for the uncertainty of each vehicle pose (may
34  * be empty if there is no W_star info). */
37  /** The reference covariance matrix used to compute vehicle_uncertainty. */
39 };
40 
41 /** Reconstruct the path of a vehicle equipped with 3 RTK GPSs.
42  * \param robot_path [OUT] The reconstructed vehicle path
43  * \param rawlog [IN] The dataset. It must contain mrpt::obs::CObservationGPS
44  * observations with GGA datums.
45  * \param rawlog_first [IN] The index of the first entry to process (first=0)
46  * \param rawlog_last [IN] The index of the last entry to process
47  * \param isGUI [IN] If set to true, some progress dialogs will be shown
48  * during the computation (requires MRPT built with support for wxWidgets).
49  * \param disableGPSInterp [IN] Whether to interpolate missing GPS readings
50  * between very close datums.
51  * \param path_smooth_filter_size [IN] Size of the window in the pitch & roll
52  * noise filtering.
53  * \param outInfo [OUT] Optional output: additional information from the
54  * optimization
55  *
56  * For more details on the method, refer to the paper: (...)
57  * \sa mrpt::topography
58  */
61  const mrpt::obs::CRawlog& rawlog, size_t rawlog_first, size_t rawlog_last,
62  bool isGUI = false, bool disableGPSInterp = false,
63  int path_smooth_filter_size = 2, TPathFromRTKInfo* outInfo = nullptr);
64 
65 /** @} */ // end of grouping
66 
67 } // namespace topography
68 } // namespace mrpt
std::map< KEY, VALUE, std::less< KEY >, mrpt::aligned_allocator_cpp11< std::pair< const KEY, VALUE > >> aligned_std_map
Used to return optional information from mrpt::topography::path_from_rtk_gps.
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 rawlog (robotic datasets) in one of two possible formats:
Definition: CRawlog.h:68
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void 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=nullptr)
Reconstruct the path of a vehicle equipped with 3 RTK GPSs.
mrpt::math::CMatrixDouble W_star
The reference covariance matrix used to compute vehicle_uncertainty.
This class stores a time-stamped trajectory in SE(3) (CPose3D poses).
mrpt::aligned_std_map< mrpt::system::TTimeStamp, mrpt::math::CMatrixDouble66 > 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, mrpt::math::TPoint3D > best_gps_path
the path of the "best" GPS.



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