Main MRPT website > C++ reference for MRPT 1.4.0
carmen_log_tools.h
Go to the documentation of this file.
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
10#ifndef CARMEN_LOG_TOOLS_H
11#define CARMEN_LOG_TOOLS_H
12
15
16namespace mrpt
17{
18 namespace obs
19 {
20 /** Parse one line from an text input stream and interpret it as a CARMEN log entry,
21 * returning its MRPT observation representation.
22 *
23 * The first word in each line determines the type of that entry. Supported
24 * line entries in this class are the following:
25 * - "ROBOTLASER(.*)": A joint odometry-laser entry. This function will return both an mrpt::obs::CObservationOdometry and an mrpt::obs::CObservation2DRangeScan
26 * - "FLASER": (Idem)
27 * - "RLASER": (Idem)
28 * - "PARAM": This case is special (read below).
29 *
30 * Note that the sensor position on the robot will be always deduced from the corresponding CARMEN log line automatically.
31 *
32 * The following entry types will be IGNORED, since with the tags above will be enough in most applications.
33 * - "ODOM"
34 * - "RAWLASER"
35 *
36 * About the PARAM entries: This functions has an internal static status consisting on some PARAM values
37 * which have effects on the future read observations. When the function finds one of these, it stores the
38 * parameter value, return an empty vector of observations, and use those values for future laser entries of types FLASER or RLASER.
39 * Currently, only these parameters are processed:
40 * - "robot_front_laser_max"
41 * - "laser_front_laser_resolution"
42 * - "robot_rear_laser_max"
43 * - "laser_rear_laser_resolution"
44 *
45 * \param time_start_log The real timestamp that corresponds to a "0" in the CARMEN log (you can get a mrpt::system::now() once and pass that same value with each call).
46 *
47 * References: http://carmen.sourceforge.net/doc/binary__loggerplayback.html
48 *
49 * \return true on success, false on end-of-file (EOF).
50 * \exception std::runtime_error On any invalid line found.
51 * \ingroup mrpt_obs_grp
52 */
54 std::istream &in_stream,
55 std::vector<mrpt::obs::CObservationPtr> &out_imported_observations,
56 const mrpt::system::TTimeStamp &time_start_log );
57
58
59 } // end NS
60} // end NS
61#endif
bool OBS_IMPEXP carmen_log_parse_line(std::istream &in_stream, std::vector< mrpt::obs::CObservationPtr > &out_imported_observations, const mrpt::system::TTimeStamp &time_start_log)
Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT o...
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
Definition: datetime.h:30
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



Page generated by Doxygen 1.9.4 for MRPT 1.4.0 SVN: at Sun Aug 14 11:34:44 UTC 2022