gm2dl_io.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G.Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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#include <string>

#include "g2o_calibration_odom_laser_api.h"

namespace g2o {

  class SparseOptimizer;
  class DataQueue;

  class G2O_CALIBRATION_ODOM_LASER_API Gm2dlIO
  {
    public:
      static const int ID_LASERPOSE;
      static const int ID_ODOMCALIB;

      static bool readGm2dl(const std::string& filename, SparseOptimizer& optimizer, bool overrideCovariances = false);

      static bool updateLaserData(SparseOptimizer& optimizer);

      static bool writeGm2dl(const std::string& filename, const SparseOptimizer& optimizer);

      static int readRobotLaser(const std::string& filename, DataQueue& queue);

  };

}