Added Java support.

examples/Makefile

@@ -18,30 +18,41 @@
 # Where you put the libbreezyslam library
 LIBDIR = /usr/local/lib
 
+JAVADIR = ../java/edu/wlu/cs/levy/breezyslam
+
 # Use EOG or your favorite image-display program
 VIEWER = eog
 
 # Set these for different experiments
 DATASET = exp2
-USE_ODOMETRY = 1
+USE_ODOMETRY = 0
 RANDOM_SEED  = 9999
 
-all: log2pgm
+all: log2pgm Log2PGM.class
 
 pytest: 
 	./log2pgm.py $(DATASET) $(USE_ODOMETRY) $(RANDOM_SEED)
-	$(VIEWER) $(DATASET).pgm
+	$(VIEWER) $(DATASET).pgm ~/Desktop/$(DATASET).pgm
+
 
 cpptest: log2pgm 
 	./log2pgm $(DATASET) $(USE_ODOMETRY) $(RANDOM_SEED)
 	$(VIEWER) $(DATASET).pgm
 
+javatest: Log2PGM.class
+	java -classpath ../java:. -Djava.library.path=$(JAVADIR)/algorithms:$(JAVADIR)/components Log2PGM \
+	 $(DATASET) $(USE_ODOMETRY) $(RANDOM_SEED)
+	$(VIEWER) $(DATASET).pgm
+
 log2pgm: log2pgm.o 
 	g++ -O3 -o log2pgm log2pgm.o -L$(LIBDIR) -lbreezyslam
 
 log2pgm.o: log2pgm.cpp 
 	g++ -O3 -c -I ../cpp log2pgm.cpp
 
+Log2PGM.class: Log2PGM.java
+	javac -classpath ../java Log2PGM.java
+
 $(DATASET).pgm:
 	./log2pgm.py $(DATASET) $(USE_ODOMETRY) $(RANDOM_SEED)
 
@@ -49,4 +60,4 @@ backup:
 	cp -r .. ~/Documents/slam/bak-breezyslam
 
 clean:
-	rm -f log2pgm *.pyc *.pgm *.o *~
+	rm -f log2pgm *.pyc *.pgm *.o *.class *~

examples/log2pgm.cpp

@@ -106,7 +106,6 @@ static void load_data(
     while (fgets(s, MAXLINE, fp))
     {
         char * cp = strtok(s, " ");
-        
                
         long * odometry = new long [3];
         odometry[0] = atol(cp);
@@ -356,11 +355,11 @@ int main( int argc, const char** argv )
         }
         else
         {
-            ((RMHC_SLAM *)slam)->update(lidar);  
+            slam->update(lidar);  
         }
         
         Position position = slam->getpos();
-                        
+
         // Add new coordinates to trajectory
         double * v = new double[2];
         v[0] = position.x_mm;

examples/logdemo.m

@@ -3,6 +3,14 @@
 %             data from Paris Mines Tech and displays the map and robot
 %             position in real time.
 %
+% Usage:
+%
+%   >> logdemo(dataset, [use_odometry], [random_seed])
+%
+% Examples:
+%
+%   >> logdemo('exp2')
+%
 % For details see
 %
 %     @inproceedings{coreslam-2010,
@@ -84,7 +92,7 @@ for scanno = 1:size(scans, 1)
         % Update SLAM with lidar alone
         slam = slam.update(scans(scanno,:));
     end
-    
+        
     % Get new position
     [x_mm, y_mm, theta_degrees] = slam.getpos();
     
@@ -110,7 +118,6 @@ for scanno = 1:size(scans, 1)
     x_pix = x_pix_r + mm2pix(x_mm, MAP_SIZE_METERS, MAP_SIZE_PIXELS);
     y_pix = y_pix_r + mm2pix(y_mm, MAP_SIZE_METERS, MAP_SIZE_PIXELS);
     
-    
     % Add robot image to map
     fill(x_pix, y_pix, 'r')
     drawnow   

examples/mines.py

@@ -64,11 +64,11 @@ def load_data(datadir, dataset):
             break       
             
         toks = s.split()[0:-1] # ignore ''
-        
+
         odometry = (int(toks[0]), int(toks[2]), int(toks[3]))
                         
         lidar = [int(tok) for tok in toks[24:]]
-                        
+
         scans.append(lidar)
         odometries.append(odometry)