FromFiles(string scenefile, string commandfile = "", int particlecount = 5,
VehicleType input = VehicleType.Simulation,
NavigationAlgorithm algorithm = NavigationAlgorithm.PHD,
bool onlymapping = false, bool realtime = false,
bool sidebar = true, bool noterminate = false)
{
Vehicle <MeasurerT, PoseT, MeasurementT> explorer;
Navigator <MeasurerT, PoseT, MeasurementT> navigator;
List <double[]> commands;
// batch methods extra information
TimedState estimate = null;
TimedArray odometry = null;
TimedMeasurements measurements = null;
try {
switch (input)
{
case VehicleType.Kinect:
if (typeof(MeasurementT) == typeof(PixelRangeMeasurement) &&
typeof(PoseT) == typeof(Pose3D) &&
typeof(MeasurerT) == typeof(KinectMeasurer))
{
explorer = KinectVehicle.FromSensor(scenefile, sidebar) as
Vehicle <MeasurerT, PoseT, MeasurementT>;
}
else
{
throw new ArgumentException("KinectVehicle can only handle 3D Pose + PixelRange");
}
break;
case VehicleType.Record:
if (algorithm == NavigationAlgorithm.LoopyPHD)
{
Console.WriteLine("reading Loopy PHD initialization data from file");
explorer = RecordVehicle <MeasurerT, PoseT, MeasurementT> .
FromFile(scenefile, true, out estimate, out odometry, out measurements);
}
else
{
explorer = RecordVehicle <MeasurerT, PoseT, MeasurementT> .
FromFile(scenefile, false, out estimate, out odometry, out measurements);
}
break;
case VehicleType.Simulation:
default:
explorer = SimulatedVehicle <MeasurerT, PoseT, MeasurementT> .
FromFile(File.ReadAllText(scenefile));
break;
}
}
catch (IOException) {
Console.WriteLine("Couldn't open vehicle file/device: " + scenefile);
explorer = new SimulatedVehicle <MeasurerT, PoseT, MeasurementT>();
}
try {
if (!string.IsNullOrEmpty(commandfile))
{
commands = FP.CommandsFromDescriptor(File.ReadAllLines(commandfile));
}
else
{
commands = new List <double[]>();
}
}
catch (FileNotFoundException) {
Console.WriteLine("command file not found: " + commandfile);
commands = new List <double[]>();
}
switch (algorithm)
{
case NavigationAlgorithm.Odometry:
navigator = new OdometryNavigator <MeasurerT, PoseT, MeasurementT>(explorer);
break;
case NavigationAlgorithm.ISAM2:
navigator = new ISAM2Navigator <MeasurerT, PoseT, MeasurementT>(explorer, onlymapping);
break;
case NavigationAlgorithm.LoopyPHD:
Console.WriteLine("initializing Loopy PHD");
if (estimate != null)
{
navigator = new LoopyPHDNavigator <MeasurerT, PoseT, MeasurementT>(explorer, estimate,
odometry, measurements);
}
else
{
navigator = new LoopyPHDNavigator <MeasurerT, PoseT, MeasurementT>(explorer, commands,
new PHDNavigator <MeasurerT, PoseT, MeasurementT>(explorer, particlecount, onlymapping));
}
explorer = new FakeVehicle <MeasurerT, PoseT, MeasurementT>(explorer, true);
Console.WriteLine("Loopy PHD initialized");
break;
case NavigationAlgorithm.PHD:
default:
navigator = new PHDNavigator <MeasurerT, PoseT, MeasurementT>(explorer, particlecount, onlymapping);
break;
}
string title = "monorfs - simulating " + scenefile + " [" + algorithm + "]";
return(new Simulation <MeasurerT, PoseT, MeasurementT>(title, explorer, navigator, commands, realtime, noterminate));
}
