slam_mapper.hpp

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/*
 * Author
 * Copyright (c) 2019 Samsung Research America
 *
 * THE WORK (AS DEFINED BELOW) IS PROVIDED UNDER THE TERMS OF THIS CREATIVE
 * COMMONS PUBLIC LICENSE ("CCPL" OR "LICENSE"). THE WORK IS PROTECTED BY
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 * AUTHORIZED UNDER THIS LICENSE OR COPYRIGHT LAW IS PROHIBITED.
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/* Author: Steven Macenski */
 
#ifndef SLAM_TOOLBOX_SLAM_MAPPER_H_
#define SLAM_TOOLBOX_SLAM_MAPPER_H_
 
#include "ros/ros.h"
#include "karto_sdk/Mapper.h"
#include "karto_sdk/Karto.h"
#include "tf2/utils.h"
 
namespace mapper_utils
{
 
using namespace ::karto;
 
class SMapper
{
public:
  SMapper();
  ~SMapper();
 
  // get occupancy grid from scans
  karto::OccupancyGrid* getOccupancyGrid(const double& resolution);
 
  // convert Karto pose to TF pose
  tf2::Transform toTfPose(const karto::Pose2& pose) const;
 
  // convert TF pose to karto pose
  karto::Pose2 toKartoPose(const tf2::Transform& pose) const;
 
  void configure(const ros::NodeHandle& nh);
  void Reset();
 
  // // processors
  // kt_bool ProcessAtDock(LocalizedRangeScan* pScan);
  // kt_bool ProcessAgainstNode(LocalizedRangeScan* pScan,  const int& nodeId);
  // kt_bool ProcessAgainstNodesNearBy(LocalizedRangeScan* pScan);
  // kt_bool ProcessLocalization(LocalizedRangeScan* pScan);
 
  void setMapper(karto::Mapper* mapper);
  karto::Mapper* getMapper();
 
  void clearLocalizationBuffer();
 
protected:
  std::unique_ptr<karto::Mapper> mapper_;
};
 
} // end namespace
 
#endif //SLAM_TOOLBOX_SLAM_MAPPER_H_