?? testing-driver.c
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/* 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;}
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