#include?
#include?
#include?“ukf.h“
#include?
#include?
#include?
#include?
#include?“ground_truth_package.h“
#include?“Eigen/Dense“
#include?“measurement_package.h“

using?namespace?std;
using?Eigen::MatrixXd;
using?Eigen::VectorXd;
using?std::vector;


void?check_arguments（int?argc?char*?argv[]）?{
????string?usage_instructions?=?“Usage?instructions:?“;
????usage_instructions?+=?argv[0];
????usage_instructions?+=?“?path/to/input.txt?output.txt“;

????bool?has_valid_args?=?false;

????//?make?sure?the?user?has?provided?input?and?output?files
????if?（argc?==?1）?{
????????cerr?<????}?else?if?（argc?==?2）?{
????????cerr?<????}?else?if?（argc?==?3）?{
????????has_valid_args?=?true;
????}?else?if?（argc?>?3）?{
????????cerr?<????}

????if?（!has_valid_args）?{
????????exit（EXIT_FAILURE）;
????}
}

void?check_files（ifstream&?in_file?string&?in_name
?????????????????ofstream&?out_file?string&?out_name）?{
????if?（!in_file.is_open（））?{
????????cerr?<????????exit（EXIT_FAILURE）;
????}

????if?（!out_file.is_open（））?{
????????cerr?<????????exit（EXIT_FAILURE）;
????}
}

VectorXd?CalculateRMSE（const?vector?&estimations
???????????????????????const?vector?&ground_truth）?{
????VectorXd?rmse（4）;
????rmse?<
????//?check?the?validity?of?the?following?inputs:
????//??*?the?estimation?vector?size?should?not?be?zero
????//??*?the?estimation?vector?size?should?equal?ground?truth?vector?size
????if（estimations.size（）?==?0?||?estimations.size（）?!=?ground_truth.size（））{
????????cout<<“the?input?is?not?legal!!!“<????????return?rmse;
????}

????//accumulate?squared?residuals
????for（int?i=0;?i?????????VectorXd?residual?=?estimations[i]?-?ground_truth[i];
????????residual?=?residual.array（）?*?residual.array（）;
????????rmse?=?rmse?+?residual;
????}

????//calculate?the?mean
????rmse?=?rmse?/?estimations.size（）;

????//calculate?the?squared?root
????rmse?=?rmse.array（）.sqrt（）;

????//return?the?result
????return?rmse;

}

int?main（int?argc?char*?argv[]）?{
????check_arguments（argc?argv）;

????string?in_file_name_?=?argv[1];
????ifstream?in_file_（in_file_name_.c_str（）?ifstream::in）;

????string?out_file_name_?=?argv[2];
????ofstream?out_file_（out_file_name_.c_str（）?ofstream::out）;

????check_files（in_file_?in_file_name_?out_file_?out_file_name_）;

????vector?measurement_pack_list;
????vector?gt_pack_list;

????string?line;

????//?prep?the?measurement?packages?（each?line?represents?a?measurement?at?a
????//?timestamp）
????while?（getline（in_file_?line））?{

????????string?sensor_type;
????????MeasurementPackage?meas_package;
????????GroundTruthPackage?gt_package;
????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-10-26?13:27??ukf-code\
?????文件????????3136??2017-10-26?13:10??ukf-code\ukf.h
?????文件???????10929??2017-10-26?13:13??ukf-code\ukf.cpp
?????文件?????????279??2017-09-06?11:32??ukf-code\measurement_package.h
?????文件????????7010??2017-10-26?13:12??ukf-code\main.cpp
?????文件?????????341??2017-10-26?12:48??ukf-code\ground_truth_package.h
?????文件?????????199??2017-10-26?13:10??ukf-code\CMakeLists.txt
?????目錄???????????0??2017-10-26?12:43??ukf-code\Eigen\
?????文件????????1594??2017-09-06?11:32??ukf-code\Eigen\IterativeLinearSolvers
?????文件?????????637??2017-09-06?11:32??ukf-code\Eigen\QtAlignedMalloc
?????文件????????2189??2017-09-06?11:32??ukf-code\Eigen\OrderingMethods
?????文件????????1151??2017-09-06?11:32??ukf-code\Eigen\UmfPackSupport
?????文件????????1904??2017-09-06?11:32??ukf-code\Eigen\SuperLUSupport
?????文件????????1433??2017-09-06?11:32??ukf-code\Eigen\SparseCholesky
?????文件?????????864??2017-09-06?11:32??ukf-code\Eigen\PardisoSupport
?????文件????????1670??2017-09-06?11:32??ukf-code\Eigen\CholmodSupport
?????文件?????????607??2017-09-06?11:32??ukf-code\Eigen\CMakeLists.txt
?????文件????????1467??2017-09-06?11:32??ukf-code\Eigen\PaStiXSupport
?????文件????????3295??2017-09-06?11:32??ukf-code\Eigen\Eigen2Support
?????文件?????????697??2017-09-06?11:32??ukf-code\Eigen\MetisSupport
?????文件?????????712??2017-09-06?11:32??ukf-code\Eigen\LeastSquares
?????文件?????????930??2017-09-06?11:32??ukf-code\Eigen\SPQRSupport
?????文件?????????580??2017-09-06?11:32??ukf-code\Eigen\Householder
?????文件????????1394??2017-09-06?11:32??ukf-code\Eigen\Eigenvalues
?????文件????????1835??2017-09-06?11:32??ukf-code\Eigen\SparseCore
?????文件?????????755??2017-09-06?11:32??ukf-code\Eigen\StdVector
?????文件?????????749??2017-09-06?11:32??ukf-code\Eigen\StdDeque
?????文件?????????991??2017-09-06?11:32??ukf-code\Eigen\SparseQR
?????文件????????1776??2017-09-06?11:32??ukf-code\Eigen\SparseLU
?????文件????????1605??2017-09-06?11:32??ukf-code\Eigen\Geometry
?????文件?????????775??2017-09-06?11:32??ukf-code\Eigen\Cholesky
............此處省略342個文件信息