laser_slam: odom_constraints.h Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00039 #ifndef LASER_SLAM_ODOM_CONSTRAINTS_H
00040 #define LASER_SLAM_ODOM_CONSTRAINTS_H
00041 
00042 #include <laser_slam/utils.h>
00043 #include <graph_mapping_msgs/LocalizationDistribution.h>
00044 
00045 namespace laser_slam
00046 {
00047 
00049 class OdomConstraints
00050 {
00051 public:
00052   OdomConstraints (ros::NodeHandle param_nh, TfPtr tf, DbPtr db);
00053 
00054 private:
00055 
00056   void diffCallback (graph_mapping_msgs::ConstraintGraphDiff::ConstPtr diff);
00057   void localizationCallback (graph_mapping_msgs::LocalizationDistribution::ConstPtr l);
00058 
00059   ros::NodeHandle param_nh_;
00060   const std::string fixed_frame_;
00061   boost::optional<unsigned> last_node_;
00062 
00063   boost::mutex mutex_;
00064   TfPtr tf_;
00065   DbPtr db_;
00066   ros::NodeHandle nh_;
00067   ros::Publisher constraint_pub_;
00068   ros::Subscriber diff_sub_, loc_sub_;
00069 };
00070 
00071 } // namespace
00072 
00073 #endif // include guard