laser_slam: odom_localizer.cpp 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 
00031 #include <laser_slam/odom_localizer.h>
00032 #include <graph_mapping_utils/geometry.h>
00033 #include <graph_mapping_utils/to_string.h>
00034 
00035 namespace laser_slam
00036 {
00037 
00038 namespace gs=graph_slam;
00039 namespace gm=geometry_msgs;
00040 namespace pg=pose_graph;
00041 namespace util=graph_mapping_utils;
00042 
00043 OdomLocalizer::OdomLocalizer ()
00044 {
00045   ROS_INFO ("Initializing OdomLocalizer");
00046 }
00047 
00048 gs::LocalizationDistribution::Ptr OdomLocalizer::update (const Graph&, 
00049                                                          gs::LocalizationDistribution::ConstPtr localization,
00050                                                          const tf::Pose& rel_pose, const ScanPtr& scan)
00051 {
00052   gs::LocalizationDistribution::Ptr dist(new gs::LocalizationDistribution());
00053   dist->stamp = scan->header.stamp;
00054   dist->samples.resize(1);
00055   ROS_ASSERT(localization->samples.size()==1);
00056 
00057   dist->samples[0].node = localization->samples[0].node;
00058   dist->samples[0].offset = util::absolutePose(localization->samples[0].offset, rel_pose);
00059 
00060   ROS_DEBUG_STREAM_COND_NAMED (fabs(rel_pose.getOrigin().x()) > 1e-3,
00061                                "localization", "In odom localization update with relative pose " <<
00062                                util::toString(rel_pose) << "; old loc was " << localization->samples[0] <<
00063                                " and new is " << dist->samples[0]);
00064   return dist;
00065 }
00066 
00067 
00068 } // namespace laser_slam