環境認識コンポーネントには,以下の3つのデータを入力することが必要である.
GridMap.h の構造体 GridMap をXMLにシリアライズしたデータを入力する.
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?> <!DOCTYPE boost_serialization> <boost_serialization signature="serialization::archive" version="5"> <XmlSerDesHeader class_id="0" tracking_level="0" version="0"> <category>sensor</category> <type>GridMap</type> <sender_name>TOP_URG</sender_name> <id>TOP_URG1</id> <tag></tag> <time>1293871872.950712</time> <hdr_version>0</hdr_version> </XmlSerDesHeader> </boost_serialization>
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?> <!DOCTYPE boost_serialization> <boost_serialization signature="serialization::archive" version="5"> <GridMap class_id="0" tracking_level="0" version="0"> <time>1293871872.950712</time> <id>TOP_URG1</id> <coordinate>self</coordinate> <area_x0>-1</area_x0> <area_y0>-2</area_y0> <area_x1>3</area_x1> <area_y1>2</area_y1> <size_x>0.050000001</size_x> <size_y>0.050000001</size_y> <range_min>0</range_min> <range_max>1</range_max> <range_step>0.1</range_step> <map class_id="1" tracking_level="0" version="0"> <range_min>0</range_min> <range_max>1</range_max> <n_values_>10</n_values_> <n_elems>6400</n_elems> <n_bits>4</n_bits> <packed_bytes class_id="2" tracking_level="0" version="0"> <n_bytes>3200</n_bytes> <byte_stream> ERERERERERERERERERERERERERERERERERERERERERERERERERERERERERERERERERERERER
<途中省略>
ERERERERERERERERERERERERERERERERERERERERERERERERERERERERERERERERERERERER ERERERFERERERERERERERERERERERERERERERBERERERERERERERERERERERRERERERERERE REREREREREREREREREQ= </byte_stream> </packed_bytes> </map> </GridMap> </boost_serialization>
その他のパラメータに関しては,実装中及び将来の拡張性のために用意している.
Localization.h のクラス Localization をXMLにシリアライズしたデータを入力する.
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?> <!DOCTYPE boost_serialization> <boost_serialization signature="serialization::archive" version="5"> <XmlSerDesHeader class_id="0" tracking_level="0" version="0"> <category>navigation</category> <type>Localization</type> <sender_name>position_estimate</sender_name> <id>POSITION_ESTIMATE0</id> <tag></tag> <time>1293855841.815181</time> <hdr_version>0</hdr_version> </XmlSerDesHeader> </boost_serialization>
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?> <!DOCTYPE boost_serialization> <boost_serialization signature="serialization::archive" version="5"> <Localization class_id="0" tracking_level="0" version="0"> <time>1293855850.494473</time> <coordinate></coordinate> <pos_x>16564.051</pos_x> <pos_y>-33475.105</pos_y> <pos_the>0.00040870431</pos_the> <pos_err_x>0.18618178</pos_err_x> <pos_err_y>0.17212869</pos_err_y> <pos_err_the>1.2774187</pos_err_the> <vel_x>0</vel_x> <vel_y>0</vel_y> <vel_the>0</vel_the> </Localization> </boost_serialization>
その他のパラメータに関しては,実装中及び将来の拡張性のために用意している.