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+%
+% logdemo.m : BreezySLAM Matlab demo.  Reads logfile with odometry and scan 
+%             data from Paris Mines Tech and displays the map and robot
+%             trajectory.
+%
+% For details see
+%
+%     @inproceedings{coreslam-2010,
+%       author    = {Bruno Steux and Oussama El Hamzaoui},
+%       title     = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code},
+%       booktitle = {11th International Conference on Control, Automation,
+%                    Robotics and Vision, ICARCV 2010, Singapore, 7-10
+%                    December 2010, Proceedings},
+%       pages     = {1975-1979},
+%       publisher = {IEEE},
+%       year      = {2010}
+%     }
+%
+% Copyright (C) 2014 Simon D. Levy
+%
+% This code is free software: you can redistribute it and/or modify
+% it under the terms of the GNU Lesser General Public License as
+% published by the Free Software Foundation, either version 3 of the
+% License, or (at your option) any later version.
+%
+% This code 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 Lesser General Public License
+% along with this code.  If not, see <http://www.gnu.org/licenses/>.
+
+function logdemo(dataset, use_odometry, seed)
+
+% Map size, scale
+MAP_SIZE_PIXELS          = 800;
+MAP_SIZE_METERS          =  32;
+
+% Grab input args
+
+if nargin < 2
+    use_odometry = 0;
+end
+
+if nargin < 3
+    seed = 0;
+end
+
+% Load data from file
+[scans, odometries] = load_data(dataset);
+
+% Build a robot model if we want odometry
+robot = [];
+if use_odometry
+    robot = MinesRover();
+end
+
+% Create a CoreSLAM object with laser params and optional robot object
+if seed
+    slam = RMHC_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS, seed);
+else
+    slam = Deterministic_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS);
+end
+
+% Report what we're doing
+nscans = size(scans, 1);
+h = waitbar(0, sprintf('Processing %d scans %s odometry, %s filter', ...
+    nscans, flag2with(use_odometry), flag2with(seed)));
+
+% Start with an empty trajectory of positions
+trajectory = zeros(nscans, 2);
+
+% Start timing
+start_sec = cputime;
+
+% Loop over scans
+for scanno = 1:nscans
+    
+    waitbar(scanno/nscans, h)
+    
+    if use_odometry
+        
+        % Convert odometry to velocities
+        [velocities,robot] = robot.computeVelocities(odometries(scanno, :));
+                
+        % Update SLAM with lidar and velocities
+        slam = slam.update(scans(scanno,:), velocities);
+          
+    else
+        
+        % Update SLAM with lidar alone
+        slam = slam.update(scans(scanno,:));
+    end
+    
+    % Get new position
+    [x_mm, y_mm, ~] = slam.getpos();
+    
+    % Add new position to trajectory
+    trajectory(scanno, :) = [x_mm, y_mm];
+    
+end
+
+% Hide waitbar
+close(h)
+
+% Report elapsed time
+elapsed_sec = cputime - start_sec;
+fprintf('%d scans in %f sec = %f scans / sec\n', nscans, elapsed_sec, nscans/elapsed_sec)
+
+                 
+% Get final map
+map = slam.getmap();
+
+% Put trajectory into map as black pixels
+for scanno = 1:nscans
+    
+    x_pix = mm2pix(trajectory(scanno,1), MAP_SIZE_METERS, MAP_SIZE_PIXELS);
+    y_pix = mm2pix(trajectory(scanno,2), MAP_SIZE_METERS, MAP_SIZE_PIXELS);
+    
+    map(y_pix, x_pix) = 0;
+    
+end
+
+% Display the final map and trajectory
+figure
+image(map/4) % Keep bytes in [0,64] for colormap
+axis('square')
+colormap('gray')
+
+
+% Function to turn 0/1 to 'without'/'with' --------------------------------
+function s = flag2with(x)
+s = 'without';
+if x
+    s = 'with';
+end
+
+% Function to cnovert millimeters to pixels -------------------------------
+
+function pix = mm2pix(mm, MAP_SIZE_METERS, MAP_SIZE_PIXELS)
+pix = floor(mm / (MAP_SIZE_METERS * 1000. / MAP_SIZE_PIXELS));
+
+
+% Function to load all from file ------------------------------------------
+% Each line in the file has the format:
+%
+%  TIMESTAMP  ... Q1  Q1 ... Distances
+%  (usec)                    (mm)
+%  0          ... 2   3  ... 24 ...
+%
+%where Q1, Q2 are odometry values
+
+function [scans,odometries] = load_data(dataset)
+
+data = load([dataset '.dat']);
+
+scans = data(:,25:end-1); % avoid final ' '
+odometries = data(:,[1,3,4]);
+
+% Function to build a Laser data structure for the Hokuyo URG04LX used for
+% collecting the logfile data.
+
+function laser = MinesLaser()
+
+laser.scan_size = 682;
+laser.scan_rate_hz = 10;
+laser.detection_angle_degrees = 240;
+laser.distance_no_detection_mm = 4000;
+laser.detection_margin = 70;
+laser.offset_mm = 145;