From fd5ccab8d1eaa37a4770684172cb18a41465a82e Mon Sep 17 00:00:00 2001
From: "Dr. Simon Levy" <slevy@carl.cs.wlu.edu>
Date: Wed, 10 Aug 2016 13:11:17 -0400
Subject: [PATCH] First commit!

---
 examples/logdemo.py | 111 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 111 insertions(+)
 create mode 100755 examples/logdemo.py

diff --git a/examples/logdemo.py b/examples/logdemo.py
new file mode 100755
index 0000000..cf2e4cf
--- /dev/null
+++ b/examples/logdemo.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python
+
+'''
+logdemo.py : BreezySLAM Python demo.  Reads logfile with odometry and scan data
+             from Paris Mines Tech and displays showing robot pose and map in 
+             real time.
+             
+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) 2016 Simon D. Levy and Matt Lubas
+
+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/>.
+'''
+
+# Map size, scale
+MAP_SIZE_PIXELS          = 800
+MAP_SIZE_METERS          =  32
+
+from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM
+
+from mines import MinesLaser, Rover, load_data
+
+from sys import argv, exit
+
+def main():
+	    
+    # Bozo filter for input args
+    if len(argv) < 3:
+        print('Usage:   %s <dataset> <use_odometry> <random_seed>' % argv[0])
+        print('Example: %s exp2 1 9999' % argv[0])
+        exit(1)
+    
+    # Grab input args
+    dataset = argv[1]
+    use_odometry  =  True if int(argv[2]) else False
+    seed =  int(argv[3]) if len(argv) > 3 else 0
+    
+	# Load the data from the file    
+    lidars, odometries = load_data('.', dataset)
+    
+    # Build a robot model if we want odometry
+    robot = Rover() if use_odometry else None
+        
+    # Create a CoreSLAM object with laser params and optional robot object
+    slam = RMHC_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS, random_seed=seed) \
+           if seed \
+           else Deterministic_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
+           
+    # Report what we're doing
+    nscans = len(lidars)
+    
+    # Create a byte array to receive the computed maps
+    mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)
+    
+    # Loop over scans    
+    for scanno in range(nscans):
+    
+        if use_odometry:
+                  
+            # Convert odometry to velocities
+            velocities = robot.computeVelocities(odometries[scanno])
+                                 
+            # Update SLAM with lidar and velocities
+            slam.update(lidars[scanno], velocities)
+            
+        else:
+        
+            # Update SLAM with lidar alone
+            slam.update(lidars[scanno])
+                    
+        # Get new position
+        x_mm, y_mm, theta_degrees = slam.getpos()    
+
+        print(scanno, x_mm, y_mm, theta_degrees)
+
+        # Get current map    
+        slam.getmap(mapbytes)
+
+        # XXX Add delay for real-time plot
+    
+            
+# Helpers ---------------------------------------------------------        
+
+def mm2pix(mm):
+        
+    return int(mm / (MAP_SIZE_METERS * 1000. / MAP_SIZE_PIXELS))  
+    
+                    
+main()