/*  ratbot-slam (c) 2006 Kris Beevers  This file is part of ratbot-slam.  ratbot-slam is free software; you can redistribute it and/or modify  it under the terms of the GNU General Public License as published by  the Free Software Foundation; either version 2 of the License, or  (at your option) any later version.  ratbot-slam is distributed in the hope that it will be useful, but  WITHOUT ANY WARRANTY; without even the implied warranty of  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU  General Public License for more details.  You should have received a copy of the GNU General Public License  along with ratbot-slam; if not, write to the Free Software  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301  USA*/// this is a driver program for ratbot-slam that runs slam on a pc,// rather than on the ratbot, using recorded data, for testing// purposes.#include "ratbot-slam.h"#include <stdio.h>#include <time.h>#include <stdlib.h>int main(int argc, char **argv){  if(argc < 2) {    printf("Usage: %s logfile\n", argv[0]);    return 1;  }  FILE *logfile = fopen(argv[1], "rb");  if(!logfile) {    printf("Unable to open %s\n", argv[1]);    return 1;  }  fp_srand(time(0));  pose_t start;  //  start.x = start.y = start.t = 0;  start.x = float2fp(0.5);  start.y = 0;  start.t = float2fp(1.57);  filter_init(&start);  FILE *pfile = fopen("particles.dat", "w");  uint32_t count = 0;  int16_t frame[7];  while(!feof(logfile)) {    if(fread(frame, sizeof(int16_t), 7, logfile) != 7)      break;    fprintf(stderr, "%d          \r", ++count);    filter_update(frame[0], frame[1], frame+2);    write_current_particles(pfile);  }  FILE *mfile = fopen("map.dat", "w");  write_best_map(mfile);  FILE *tfile = fopen("traj.dat", "w");  write_best_trajectory(tfile);  printf("best particle: %d\n", best_particle());  return 0;}