mars_lib 0.1.0.2abe2576fe7f
Modular and Robust Sensor-Fusion
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read_pose_data.h
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1// Copyright (C) 2021 Christian Brommer, Control of Networked Systems, University of Klagenfurt, Austria.
2//
3// All rights reserved.
4//
5// This software is licensed under the terms of the BSD-2-Clause-License with
6// no commercial use allowed, the full terms of which are made available
7// in the LICENSE file. No license in patents is granted.
8//
9// You can contact the author at <christian.brommer@ieee.org>
10
11#ifndef READ_POSE_DATA_H
12#define READ_POSE_DATA_H
13
16#include <mars/time.h>
19#include <Eigen/Dense>
20#include <utility>
21#include <vector>
22
23namespace mars
24{
26{
27public:
28 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
29
30 ReadPoseData(std::vector<BufferEntryType>* data_out, std::shared_ptr<SensorAbsClass> sensor,
31 const std::string& file_path, const double& time_offset = 0)
32 {
33 std::vector<std::string> expect_entry = { "t", "p_x", "p_y", "p_z", "q_w", "q_x", "q_y", "q_z" };
34
35 CsvDataType csv_data;
36 ReadCsv(&csv_data, file_path);
37
38 unsigned long number_of_datapoints = csv_data["t"].size();
39 data_out->resize(number_of_datapoints);
40
41 for (size_t k = 0; k < number_of_datapoints; k++)
42 {
43 Time time = csv_data["t"][k] + time_offset;
44
45 Eigen::Vector3d position(csv_data["p_x"][k], csv_data["p_y"][k], csv_data["p_z"][k]);
46 Eigen::Quaterniond orientation(csv_data["q_w"][k], csv_data["q_x"][k], csv_data["q_y"][k], csv_data["q_z"][k]);
47 orientation = Utils::NormalizeQuaternion(orientation, "pose csv reader");
48
49 BufferDataType data;
50 data.set_measurement(std::make_shared<PoseMeasurementType>(position, orientation));
51
52 BufferEntryType current_entry(time, data, sensor);
53 data_out->at(k) = current_entry;
54 }
55 }
56};
57} // namespace mars
58
59#endif // READ_POSE_DATA_H
The BufferDataType binds the core and sensor state in form of a shared void pointer.
Definition buffer_data_type.h:36
void set_measurement(std::shared_ptr< void > meas)
Definition buffer_data_type.h:75
Definition buffer_entry_type.h:41
Definition read_csv.h:30
Definition read_pose_data.h:26
EIGEN_MAKE_ALIGNED_OPERATOR_NEW ReadPoseData(std::vector< BufferEntryType > *data_out, std::shared_ptr< SensorAbsClass > sensor, const std::string &file_path, const double &time_offset=0)
Definition read_pose_data.h:30
Definition time.h:20
static Eigen::Quaterniond NormalizeQuaternion(const Eigen::Quaterniond &quat, std::string note="")
Definition buffer.h:27
std::map< std::string, std::vector< double > > CsvDataType
Definition read_csv.h:26