added license stuff

LICENSE_PTAM

@@ -0,0 +1,25 @@
+LICENCE
+
+Parallel tracking and mapping for small augmented reality workspaces – PTAM.1
+PTAM.1 © Isis Innovation Limited 2008 (the "Software")
+
+The Software is and remains the property of Isis Innovation Limited ("Isis") a wholly-owned subsidiary of the University of Oxford (the “University”). The Licensee will ensure that the Copyright Notice set out above appears prominently wherever the Software is used.
+
+The Software is distributed under this Licence:
+
+    on a non-exclusive basis,
+    solely for non-commercial use in the hope that it will be useful,
+    “AS-IS” and in order that the University as a charitable foundation protects its assets for the benefit of its educational and research purposes, Isis makes clear that no condition is made or to be implied, nor is any representation or warranty given or to be implied, as to (i) the quality, accuracy or reliability of the Software; (ii) the suitability of the Software for any particular use or for use under any specific conditions; and (iii) whether use of the Software will infringe third-party rights.
+
+Isis disclaims:
+
+    all responsibility for the use which is made of the Software; and
+    any liability for the outcomes arising from using the Software.
+
+The Licensee may make public, results or data obtained from, dependent on or arising out of the use of the Software provided that any such publication includes a prominent statement identifying the Software as the source of the results or the data, including the Copyright Notice and stating that the Software has been made available for use by the Licensee under licence from Isis and the Licensee provides a copy of any such publication to Isis.
+
+The Licensee agrees to indemnify Isis and the University and hold them harmless from and against any and all claims, damages and liabilities asserted by third parties (including claims for negligence) which arise directly or indirectly from the use of the Software or any derivative of it or the sale of any products based on the Software. The Licensee undertakes to make no liability claim against any employee, student, agent or appointee of Isis or of the University, in connection with this Licence or the Software.
+
+No part of the Software may be reproduced, modified, transmitted or transferred in any form or by any means, electronic or mechanical, without the express permission of Isis. Isis’s permission is not required if the said reproduction, modification, transmission or transference is done without financial return, the conditions of this Licence are imposed upon the receiver of the product, and all original and amended source code is included in any transmitted product. You may be held legally responsible for any copyright infringement that is caused or encouraged by your failure to abide by these terms and conditions.
+
+You are not permitted under this Licence to use this Software commercially. Use for which any financial return is received shall be defined as commercial use, and includes (1) integration of all or part of the source code or the Software into a product for sale or license by or on behalf of Licensee to third parties or (2) use of the Software or any derivative of it for research with the final aim of developing software products for sale or license to a third party or (3) use of the Software or any derivative of it for research with the final aim of developing non-software products for sale or license to a third party, or (4) use of the Software to provide any service to an external organisation for which payment is received. If you are interested in using the Software commercially, please contact Isis to negotiate a licence. Contact details are: [email protected] quoting reference 3588. 

src/HelperFunctions.h

@@ -1,7 +1,26 @@
 #pragma once
-/*
- * Author: Jakob Engel <[email protected]>
+ /**
+ *  This file is part of tum_ardrone.
+ *
+ *  Copyright 2012 Jakob Engel <[email protected]> (Technical University of Munich)
+ *  For more information see <https://vision.in.tum.de/data/software/tum_ardrone>.
+ *
+ *  tum_ardrone is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  tum_ardrone 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 General Public License
+ *  along with tum_ardrone.  If not, see <http://www.gnu.org/licenses/>.
  */
+#ifndef __HELPERFUNCTIONS_H
+#define __HELPERFUNCTIONS_H
+
 
 #include <stdlib.h>
 #include <TooN/TooN.h>
@@ -95,3 +114,4 @@ inline static int getMS(ros::Time stamp = ros::Time::now())
 	return mss;
 }
 
+#endif /* __HELPERFUNCTIONS_H */

src/UINode/PingThread.cpp

@@ -1,5 +1,21 @@
-/*
- * Author: Jakob Engel <[email protected]>
+ /**
+ *  This file is part of tum_ardrone.
+ *
+ *  Copyright 2012 Jakob Engel <[email protected]> (Technical University of Munich)
+ *  For more information see <https://vision.in.tum.de/data/software/tum_ardrone>.
+ *
+ *  tum_ardrone is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  tum_ardrone 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 General Public License
+ *  along with tum_ardrone.  If not, see <http://www.gnu.org/licenses/>.
  */
 
 #include "PingThread.h"

src/UINode/PingThread.h

@@ -1,7 +1,26 @@
 #pragma once
-/*
- * Author: Jakob Engel <[email protected]>
+ /**
+ *  This file is part of tum_ardrone.
+ *
+ *  Copyright 2012 Jakob Engel <[email protected]> (Technical University of Munich)
+ *  For more information see <https://vision.in.tum.de/data/software/tum_ardrone>.
+ *
+ *  tum_ardrone is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  tum_ardrone 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 General Public License
+ *  along with tum_ardrone.  If not, see <http://www.gnu.org/licenses/>.
  */
+#ifndef __PINGTHREAD_H
+#define __PINGTHREAD_H
+
 
 #include "cvd/thread.h"
 
@@ -49,3 +68,4 @@ class PingThread : private CVD::Thread
 	bool measure;
 };
 
+#endif /* __PINGTHREAD_H */

src/UINode/RosThread.cpp

@@ -1,5 +1,21 @@
-/*
- * Author: Jakob Engel <[email protected]>
+ /**
+ *  This file is part of tum_ardrone.
+ *
+ *  Copyright 2012 Jakob Engel <[email protected]> (Technical University of Munich)
+ *  For more information see <https://vision.in.tum.de/data/software/tum_ardrone>.
+ *
+ *  tum_ardrone is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  tum_ardrone 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 General Public License
+ *  along with tum_ardrone.  If not, see <http://www.gnu.org/licenses/>.
  */
 
 #include "RosThread.h"

src/UINode/RosThread.h

@@ -1,7 +1,26 @@
 #pragma once
-/*
- * Author: Jakob Engel <[email protected]>
+ /**
+ *  This file is part of tum_ardrone.
+ *
+ *  Copyright 2012 Jakob Engel <[email protected]> (Technical University of Munich)
+ *  For more information see <https://vision.in.tum.de/data/software/tum_ardrone>.
+ *
+ *  tum_ardrone is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  tum_ardrone 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 General Public License
+ *  along with tum_ardrone.  If not, see <http://www.gnu.org/licenses/>.
  */
+#ifndef __ROSTHREAD_H
+#define __ROSTHREAD_H
+
 
 
 #include "cvd/thread.h"
@@ -106,3 +125,4 @@ class RosThread : private CVD::Thread
 	void sendFlattrim();
 };
 
+#endif /* __ROSTHREAD_H */

src/UINode/main_GUI.cpp

@@ -1,9 +1,21 @@
-/*
- * drone_gui:
- * GUI to manage drone_stateestimation and drone_autopilot (send commands).
+ /**
+ *  This file is part of tum_ardrone.
  *
- * Author: Jakob Engel <[email protected]>
+ *  Copyright 2012 Jakob Engel <[email protected]> (Technical University of Munich)
+ *  For more information see <https://vision.in.tum.de/data/software/tum_ardrone>.
  *
+ *  tum_ardrone is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  tum_ardrone 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 General Public License
+ *  along with tum_ardrone.  If not, see <http://www.gnu.org/licenses/>.
  */
 
 #include "tum_ardrone_gui.h"

src/UINode/tum_ardrone_gui.cpp

@@ -1,5 +1,21 @@
-/*
- * Author: Jakob Engel <[email protected]>
+ /**
+ *  This file is part of tum_ardrone.
+ *
+ *  Copyright 2012 Jakob Engel <[email protected]> (Technical University of Munich)
+ *  For more information see <https://vision.in.tum.de/data/software/tum_ardrone>.
+ *
+ *  tum_ardrone is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  tum_ardrone 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 General Public License
+ *  along with tum_ardrone.  If not, see <http://www.gnu.org/licenses/>.
  */
 
 #include "tum_ardrone_gui.h"

src/UINode/tum_ardrone_gui.h

@@ -1,7 +1,28 @@
 #pragma once
-/*
- * Author: Jakob Engel <[email protected]>
+ /**
+ *  This file is part of tum_ardrone.
+ *
+ *  Copyright 2012 Jakob Engel <[email protected]> (Technical University of Munich)
+ *  For more information see <https://vision.in.tum.de/data/software/tum_ardrone>.
+ *
+ *  tum_ardrone is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  tum_ardrone 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 General Public License
+ *  along with tum_ardrone.  If not, see <http://www.gnu.org/licenses/>.
  */
+#ifndef __TUMARDRONEGUI_H
+#define __TUMARDRONEGUI_H
+
+
+
 
 #include <QtGui/QWidget>
 #include "ui_tum_ardrone_gui.h"
@@ -93,4 +114,5 @@ private slots:
     Ui::tum_ardrone_guiClass ui;
 };
 
+#endif /* __TUMARDRONEGUI_H */
 

src/autopilot/ControlNode.cpp

@@ -1,18 +1,21 @@
-/*
- * drone_autopilot:
- * This node controls the drone. requires drone_stateestimation.
- * 
- * For further details see Camera-Based Navigation of a Low-Cost Quadrocopter (J. Engel, J. Sturm, D. Cremers)
- * In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2012.
- * 
- * and
- * 
- * Accurate Figure Flying with a Quadrocopter Using Onboard Visual and Inertial Sensing (J. Engel, J. Sturm, D. Cremers)
- * In Proc. of the Workshop on Visual Control of Mobile Robots (ViCoMoR) at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS), 2012. 
+ /**
+ *  This file is part of tum_ardrone.
  *
+ *  Copyright 2012 Jakob Engel <[email protected]> (Technical University of Munich)
+ *  For more information see <https://vision.in.tum.de/data/software/tum_ardrone>.
  *
- * Author: Jakob Engel <[email protected]>
+ *  tum_ardrone is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
  *
+ *  tum_ardrone 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 General Public License
+ *  along with tum_ardrone.  If not, see <http://www.gnu.org/licenses/>.
  */
 
 

src/autopilot/ControlNode.h

@@ -1,23 +1,26 @@
 #pragma once
-/*
- * drone_autopilot:
- * This node controls the drone. requires drone_stateestimation.
- * 
- * For further details see Camera-Based Navigation of a Low-Cost Quadrocopter (J. Engel, J. Sturm, D. Cremers)
- * In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2012.
- * 
- * and
- * 
- * Accurate Figure Flying with a Quadrocopter Using Onboard Visual and Inertial Sensing (J. Engel, J. Sturm, D. Cremers)
- * In Proc. of the Workshop on Visual Control of Mobile Robots (ViCoMoR) at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS), 2012. 
+ /**
+ *  This file is part of tum_ardrone.
  *
+ *  Copyright 2012 Jakob Engel <[email protected]> (Technical University of Munich)
+ *  For more information see <https://vision.in.tum.de/data/software/tum_ardrone>.
  *
- * Author: Jakob Engel <[email protected]>
+ *  tum_ardrone is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
  *
+ *  tum_ardrone 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 General Public License
+ *  along with tum_ardrone.  If not, see <http://www.gnu.org/licenses/>.
  */
- 
- 
- 
+#ifndef __CONTROLNODE_H
+#define __CONTROLNODE_H
+
 #include "ros/ros.h"
 #include "geometry_msgs/Twist.h"
 #include "tum_ardrone/filter_state.h"
@@ -117,3 +120,4 @@ struct ControlNode
 	long lastControlSentMS;
 	bool isControlling;
 };
+#endif /* __CONTROLNODE_H */

src/autopilot/DroneController.cpp

@@ -1,17 +1,21 @@
-/*
- * PID controller for the AR.Drone.
- * 
- * For further details see Camera-Based Navigation of a Low-Cost Quadrocopter (J. Engel, J. Sturm, D. Cremers)
- * In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2012.
- * 
- * and
- * 
- * Accurate Figure Flying with a Quadrocopter Using Onboard Visual and Inertial Sensing (J. Engel, J. Sturm, D. Cremers)
- * In Proc. of the Workshop on Visual Control of Mobile Robots (ViCoMoR) at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS), 2012. 
+ /**
+ *  This file is part of tum_ardrone.
  *
+ *  Copyright 2012 Jakob Engel <[email protected]> (Technical University of Munich)
+ *  For more information see <https://vision.in.tum.de/data/software/tum_ardrone>.
  *
- * Author: Jakob Engel <[email protected]>
+ *  tum_ardrone is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
  *
+ *  tum_ardrone 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 General Public License
+ *  along with tum_ardrone.  If not, see <http://www.gnu.org/licenses/>.
  */