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36 constexpr
static auto sect =
"LocalizationExperiment";
81 template <
class MONTECARLO_TYPE>
107 return "pf-localization <config_file> [dataset.rawlog]";
mrpt::poses::CPose2DInterpolator GT_path
mrpt::poses::CPose3DInterpolator out_estimated_path
Controlled by flag fill_out_estimated_path
Implementation of BaseAppDataSource for reading from a rawlog file.
void initialize(int argc, const char **argv)
Initializes the application from CLI parameters.
void getGroundTruth(mrpt::poses::CPose2D &expectedPose, size_t rawlogEntry, const mrpt::math::CMatrixDouble >, const Clock::time_point &cur_time)
bool allow_quit_on_esc_key
If true, will watch the keyboard and quit when ESC is pushed.
MonteCarlo (Particle filter) localization wrapper class for CLI or custom applications: virtual base ...
bool fill_out_estimated_path
Whether to populate out_estimated_path.
void do_pf_localization()
Virtual interface for offline datasets (rawlog) or live sensors.
std::string impl_get_usage() const override
This class stores a time-stamped trajectory in SE(3) (CPose3D poses).
void prepareGT(const mrpt::math::CMatrixDouble >)
void initialize(int argc, char **argv)
MonteCarlo (Particle filter) localization wrapper class, reading from a rawlog dataset.
void run()
Runs with the current parameter set.
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
MonteCarloLocalization_Base()
This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses).
constexpr static auto sect
Default name of the main configuration section in INI files for this app.
std::chrono::time_point< Clock > time_point
Versatile class for consistent logging and management of output messages.
MonteCarloLocalization_Rawlog()
void impl_initialize(int argc, const char **argv) override
Virtual interface for applications that initialize from CLI parameters.
This class implements a config file-like interface over a memory-stored string list.
mrpt::config::CConfigFileMemory params
Populated in initialize().
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