karto_scan_matcher.h

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 */

/************************************************************
 * \file
 * 
 * Ros wrapper for the Karto scan matcher
 *
 * \author Bhaskara Marthi
 ************************************************************/

#ifndef KARTO_SCAN_MATCHER_KARTO_SCAN_MATCHER_H
#define KARTO_SCAN_MATCHER_KARTO_SCAN_MATCHER_H

#include <karto/Mapper.h>
// Undo the various defines from the karto headers to be safe
#undef forEach
#undef forEachAs
#undef const_forEach
#undef const_forEachAs
#undef forEachR
#undef const_forEachR

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <sensor_msgs/LaserScan.h>
#include <geometry_msgs/Pose2D.h>
#include <boost/shared_ptr.hpp>
#include <boost/optional.hpp>
#include <vector>
#include <Eigen/Dense>



namespace karto_scan_matcher
{

using std::vector;

const double DEFAULT_SMEAR_DEVIATION = 0.03;
const double DEFAULT_RANGE_THRESHOLD = 12.0;


struct ScanWithPose
{
  ScanWithPose (const sensor_msgs::LaserScan& scan, const geometry_msgs::Pose2D& pose)
    : scan(scan), pose(pose) {}
  ScanWithPose () {}

  sensor_msgs::LaserScan scan;
  geometry_msgs::Pose2D pose;
};

struct ScanMatchResult
{
  ScanMatchResult (const geometry_msgs::Pose2D& pose, const Eigen::Matrix3f& cov,
                   const double response) :
    pose(pose), cov(cov), response(response)
  {}

  geometry_msgs::Pose2D pose;
  Eigen::Matrix3f cov;
  double response;
};


typedef std::vector<double> DoubleVector;

class KartoScanMatcher 
{
public:
  
  KartoScanMatcher(const sensor_msgs::LaserScan& init_scan, const tf::TransformListener& tf,
                   double search_space_size, double search_grid_resolution);

  KartoScanMatcher(const sensor_msgs::LaserScan& init_scan, const geometry_msgs::Pose2D& laser_pose,
                   double search_space_size, double search_grid_resolution);

  KartoScanMatcher(const sensor_msgs::LaserScan& init_scan, const geometry_msgs::Pose2D& laser_pose,
                   const DoubleVector& search_sizes, const DoubleVector& search_resolutions);


  ScanMatchResult scanMatch (const sensor_msgs::LaserScan& scan, const geometry_msgs::Pose2D& pose,
                             const vector<ScanWithPose>& reference_scans) const;
  

  void setPenalizeDistance (bool penalize);
  
private:

  void initialize (const sensor_msgs::LaserScan& init_scan, const geometry_msgs::Pose2D& laser_pose,
                   const DoubleVector& search_space_sizes, const DoubleVector& search_space_resolutions);

  typedef boost::shared_ptr<karto::ScanMatcher> MatcherPtr;
  typedef boost::shared_ptr<karto::Mapper> MapperPtr;

  boost::shared_ptr<karto::Dataset> dataset_;
  std::vector<MatcherPtr> matchers_;
  std::vector<MapperPtr> mappers_;
  karto::LaserRangeFinder* laser_; // memory managed by dataset_
  
  bool penalize_distance_; // the distancePenalty argument to matchScans
};


} // namespace karto_scan_matcher



#endif // include guard

---

karto_scan_matcher
Author(s): Bhaskara Marthi
autogenerated on Fri Jan 11 09:10:48 2013