\hypertarget{main_8cpp}{\section{main.\-cpp File Reference}
\label{main_8cpp}\index{main.\-cpp@{main.\-cpp}}
}
{\ttfamily \#include $<$iostream$>$}\\*
{\ttfamily \#include $<$math.\-h$>$}\\*
{\ttfamily \#include $<$stdlib.\-h$>$}\\*
{\ttfamily \#include $<$string$>$}\\*
{\ttfamily \#include $<$fstream$>$}\\*
{\ttfamily \#include $<$iomanip$>$}\\*
{\ttfamily \#include $<$time.\-h$>$}\\*
{\ttfamily \#include $<$semaphore.\-h$>$}\\*
{\ttfamily \#include \char`\"{}Terrain\-Nav.\-h\char`\"{}}\\*
{\ttfamily \#include \char`\"{}Terrain\-Nav\-Client.\-h\char`\"{}}\\*
{\ttfamily \#include \char`\"{}matrix\-Array\-Calcs.\-h\char`\"{}}\\*
{\ttfamily \#include \char`\"{}gen\-Filter\-Defs.\-h\char`\"{}}\\*
{\ttfamily \#include \char`\"{}struct\-Defs.\-h\char`\"{}}\\*
{\ttfamily \#include \char`\"{}T\-Nav\-Particle\-Filter.\-h\char`\"{}}\\*
\subsection*{Macros}
\begin{DoxyCompactItemize}
\item 
\#define \hyperlink{main_8cpp_ab2c26e633c9656772bee8a169d3fbf02}{N\-A\-N\-O\-S\-E\-C\-\_\-\-P\-E\-R\-\_\-\-S\-E\-C}~(1000000000\-L)
\end{DoxyCompactItemize}
\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
void \hyperlink{main_8cpp_ac4e32d7053e8ec7e042eb96ae72b25cf}{run\-Terrain\-Nav} (const Matrix \&data\-Kft, const Matrix \&data\-Meas, int map\-\_\-type, char $\ast$map\-Path, int interp\-Method, int k\-Sub\-Sample, int m\-Sub\-Sample, \hyperlink{structposeT}{pose\-T} $\ast$tercom\-Est, \hyperlink{structposeT}{pose\-T} $\ast$mmse\-Est, bool real\-Time, int filter\-Type, ofstream \&distrib\-File, char $\ast$save\-Path, int data\-K\-\_\-init, double \&map\-Resolution\-X, double \&map\-Resolution\-Y)
\item 
Matrix \hyperlink{main_8cpp_a6db423bfadf75ca63db1beceb9f871b2}{read\-Data\-From\-File} (const char $\ast$file\-Name, const int \&num\-Rows, const int \&num\-Cols)
\item 
bool \hyperlink{main_8cpp_a3e496f8b57ee3218793bdcbcff4c2289}{assign\-Kearfott\-Estimate} (\hyperlink{structposeT}{pose\-T} $\ast$curr\-Estimate, Matrix pose)
\item 
void \hyperlink{main_8cpp_a91692cc23bbb473710ed8ce5ce889ecb}{assign\-D\-V\-L\-Measurement} (\hyperlink{structmeasT}{meas\-T} $\ast$curr\-Meas, Matrix meas)
\item 
void \hyperlink{main_8cpp_a3fe0317a286298bc8a0e9db73ca76344}{assign\-M\-B\-Measurement} (\hyperlink{structmeasT}{meas\-T} $\ast$curr\-Meas, Matrix meas)
\item 
void \hyperlink{main_8cpp_ac39ab8429f52c6d0628df98338df457d}{assign\-Alt\-Measurement} (\hyperlink{structmeasT}{meas\-T} $\ast$curr\-Meas, Matrix meas)
\item 
void \hyperlink{main_8cpp_a04f6166791f6726921f27f5e7b23c5cb}{assign\-Idt\-Measurement} (\hyperlink{structmeasT}{meas\-T} $\ast$curr\-Meas, Matrix meas)
\item 
void \hyperlink{main_8cpp_ad76f640c41119707359c2a7246e8b7b7}{save\-Run\-Parameters} (const char $\ast$save\-Path)
\item 
int \hyperlink{main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}{main} (int argc, char $\ast$$\ast$argv)
\end{DoxyCompactItemize}


\subsection{Macro Definition Documentation}
\hypertarget{main_8cpp_ab2c26e633c9656772bee8a169d3fbf02}{\index{main.\-cpp@{main.\-cpp}!N\-A\-N\-O\-S\-E\-C\-\_\-\-P\-E\-R\-\_\-\-S\-E\-C@{N\-A\-N\-O\-S\-E\-C\-\_\-\-P\-E\-R\-\_\-\-S\-E\-C}}
\index{N\-A\-N\-O\-S\-E\-C\-\_\-\-P\-E\-R\-\_\-\-S\-E\-C@{N\-A\-N\-O\-S\-E\-C\-\_\-\-P\-E\-R\-\_\-\-S\-E\-C}!main.cpp@{main.\-cpp}}
\subsubsection[{N\-A\-N\-O\-S\-E\-C\-\_\-\-P\-E\-R\-\_\-\-S\-E\-C}]{\setlength{\rightskip}{0pt plus 5cm}\#define N\-A\-N\-O\-S\-E\-C\-\_\-\-P\-E\-R\-\_\-\-S\-E\-C~(1000000000\-L)}}\label{main_8cpp_ab2c26e633c9656772bee8a169d3fbf02}


\subsection{Function Documentation}
\hypertarget{main_8cpp_ac39ab8429f52c6d0628df98338df457d}{\index{main.\-cpp@{main.\-cpp}!assign\-Alt\-Measurement@{assign\-Alt\-Measurement}}
\index{assign\-Alt\-Measurement@{assign\-Alt\-Measurement}!main.cpp@{main.\-cpp}}
\subsubsection[{assign\-Alt\-Measurement}]{\setlength{\rightskip}{0pt plus 5cm}void assign\-Alt\-Measurement (
\begin{DoxyParamCaption}
\item[{{\bf meas\-T} $\ast$}]{curr\-Meas, }
\item[{Matrix}]{meas}
\end{DoxyParamCaption}
)}}\label{main_8cpp_ac39ab8429f52c6d0628df98338df457d}
\hypertarget{main_8cpp_a91692cc23bbb473710ed8ce5ce889ecb}{\index{main.\-cpp@{main.\-cpp}!assign\-D\-V\-L\-Measurement@{assign\-D\-V\-L\-Measurement}}
\index{assign\-D\-V\-L\-Measurement@{assign\-D\-V\-L\-Measurement}!main.cpp@{main.\-cpp}}
\subsubsection[{assign\-D\-V\-L\-Measurement}]{\setlength{\rightskip}{0pt plus 5cm}void assign\-D\-V\-L\-Measurement (
\begin{DoxyParamCaption}
\item[{{\bf meas\-T} $\ast$}]{curr\-Meas, }
\item[{Matrix}]{meas}
\end{DoxyParamCaption}
)}}\label{main_8cpp_a91692cc23bbb473710ed8ce5ce889ecb}
\hypertarget{main_8cpp_a04f6166791f6726921f27f5e7b23c5cb}{\index{main.\-cpp@{main.\-cpp}!assign\-Idt\-Measurement@{assign\-Idt\-Measurement}}
\index{assign\-Idt\-Measurement@{assign\-Idt\-Measurement}!main.cpp@{main.\-cpp}}
\subsubsection[{assign\-Idt\-Measurement}]{\setlength{\rightskip}{0pt plus 5cm}void assign\-Idt\-Measurement (
\begin{DoxyParamCaption}
\item[{{\bf meas\-T} $\ast$}]{curr\-Meas, }
\item[{Matrix}]{meas}
\end{DoxyParamCaption}
)}}\label{main_8cpp_a04f6166791f6726921f27f5e7b23c5cb}
\hypertarget{main_8cpp_a3e496f8b57ee3218793bdcbcff4c2289}{\index{main.\-cpp@{main.\-cpp}!assign\-Kearfott\-Estimate@{assign\-Kearfott\-Estimate}}
\index{assign\-Kearfott\-Estimate@{assign\-Kearfott\-Estimate}!main.cpp@{main.\-cpp}}
\subsubsection[{assign\-Kearfott\-Estimate}]{\setlength{\rightskip}{0pt plus 5cm}bool assign\-Kearfott\-Estimate (
\begin{DoxyParamCaption}
\item[{{\bf pose\-T} $\ast$}]{curr\-Estimate, }
\item[{Matrix}]{pose}
\end{DoxyParamCaption}
)}}\label{main_8cpp_a3e496f8b57ee3218793bdcbcff4c2289}
\hypertarget{main_8cpp_a3fe0317a286298bc8a0e9db73ca76344}{\index{main.\-cpp@{main.\-cpp}!assign\-M\-B\-Measurement@{assign\-M\-B\-Measurement}}
\index{assign\-M\-B\-Measurement@{assign\-M\-B\-Measurement}!main.cpp@{main.\-cpp}}
\subsubsection[{assign\-M\-B\-Measurement}]{\setlength{\rightskip}{0pt plus 5cm}void assign\-M\-B\-Measurement (
\begin{DoxyParamCaption}
\item[{{\bf meas\-T} $\ast$}]{curr\-Meas, }
\item[{Matrix}]{meas}
\end{DoxyParamCaption}
)}}\label{main_8cpp_a3fe0317a286298bc8a0e9db73ca76344}
\hypertarget{main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}{\index{main.\-cpp@{main.\-cpp}!main@{main}}
\index{main@{main}!main.cpp@{main.\-cpp}}
\subsubsection[{main}]{\setlength{\rightskip}{0pt plus 5cm}int main (
\begin{DoxyParamCaption}
\item[{int}]{argc, }
\item[{char $\ast$$\ast$}]{argv}
\end{DoxyParamCaption}
)}}\label{main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}
\hypertarget{main_8cpp_a6db423bfadf75ca63db1beceb9f871b2}{\index{main.\-cpp@{main.\-cpp}!read\-Data\-From\-File@{read\-Data\-From\-File}}
\index{read\-Data\-From\-File@{read\-Data\-From\-File}!main.cpp@{main.\-cpp}}
\subsubsection[{read\-Data\-From\-File}]{\setlength{\rightskip}{0pt plus 5cm}Matrix read\-Data\-From\-File (
\begin{DoxyParamCaption}
\item[{const char $\ast$}]{file\-Name, }
\item[{const int \&}]{num\-Rows, }
\item[{const int \&}]{num\-Cols}
\end{DoxyParamCaption}
)}}\label{main_8cpp_a6db423bfadf75ca63db1beceb9f871b2}
\hypertarget{main_8cpp_ac4e32d7053e8ec7e042eb96ae72b25cf}{\index{main.\-cpp@{main.\-cpp}!run\-Terrain\-Nav@{run\-Terrain\-Nav}}
\index{run\-Terrain\-Nav@{run\-Terrain\-Nav}!main.cpp@{main.\-cpp}}
\subsubsection[{run\-Terrain\-Nav}]{\setlength{\rightskip}{0pt plus 5cm}void run\-Terrain\-Nav (
\begin{DoxyParamCaption}
\item[{const Matrix \&}]{data\-Kft, }
\item[{const Matrix \&}]{data\-Meas, }
\item[{int}]{map\-\_\-type, }
\item[{char $\ast$}]{map\-Path, }
\item[{int}]{interp\-Method, }
\item[{int}]{k\-Sub\-Sample, }
\item[{int}]{m\-Sub\-Sample, }
\item[{{\bf pose\-T} $\ast$}]{tercom\-Est, }
\item[{{\bf pose\-T} $\ast$}]{mmse\-Est, }
\item[{bool}]{real\-Time, }
\item[{int}]{filter\-Type, }
\item[{ofstream \&}]{distrib\-File, }
\item[{char $\ast$}]{save\-Path, }
\item[{int}]{data\-K\-\_\-init, }
\item[{double \&}]{map\-Resolution\-X, }
\item[{double \&}]{map\-Resolution\-Y}
\end{DoxyParamCaption}
)}}\label{main_8cpp_ac4e32d7053e8ec7e042eb96ae72b25cf}
\hypertarget{main_8cpp_ad76f640c41119707359c2a7246e8b7b7}{\index{main.\-cpp@{main.\-cpp}!save\-Run\-Parameters@{save\-Run\-Parameters}}
\index{save\-Run\-Parameters@{save\-Run\-Parameters}!main.cpp@{main.\-cpp}}
\subsubsection[{save\-Run\-Parameters}]{\setlength{\rightskip}{0pt plus 5cm}void save\-Run\-Parameters (
\begin{DoxyParamCaption}
\item[{const char $\ast$}]{save\-Path}
\end{DoxyParamCaption}
)}}\label{main_8cpp_ad76f640c41119707359c2a7246e8b7b7}
