laser_slam: scan_matching.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_SCAN_MATCHING_H
00040 #define LASER_SLAM_SCAN_MATCHING_H
00041 
00042 #include <laser_slam/LocalizedScan.h>
00043 #include <laser_slam/util.h>
00044 #include <karto_scan_matcher/karto_scan_matcher.h>
00045 #include <pose_graph/constraint_graph.h>
00046 #include <pose_graph/graph_db.h>
00047 
00048 namespace laser_slam
00049 {
00050 
00051 typedef boost::shared_ptr<karto_scan_matcher::KartoScanMatcher> MatcherPtr;
00052 
00053 karto_scan_matcher::ScanMatchResult scanMatchNodes (const pose_graph::ConstraintGraph& g, MatcherPtr matcher, 
00054                                                     const pose_graph::NodeSet& nodes, const ScanMap& scans,
00055                                                     const sensor_msgs::LaserScan& scan,
00056                                                     const tf::Pose& init_estimate, const tf::Pose& laser_offset);
00057 
00058 
00060 karto_scan_matcher::ScanMatchResult globalLocalization (const pose_graph::ConstraintGraph& g, MatcherPtr local_matcher,
00061                                                         const pose_graph::NodeSet& nodes, const ScanMap& scans,
00062                                                         const sensor_msgs::LaserScan& scan, const tf::Pose& laser_offset,
00063                                                         double global_resolution, double angular_resolution);
00064 
00066 karto_scan_matcher::ScanMatchResult globalLocalization (const pose_graph::ConstraintGraph& g, MatcherPtr local_matcher,
00067                                                         const pose_graph::NodeSet& nodes, const ScanMap& scans,
00068                                                         const sensor_msgs::LaserScan& scan, const tf::Pose& laser_offset,
00069                                                         double global_resolution, double angular_resolution,
00070                                                         double min_x, double min_y, double max_x, double max_y);
00071 
00072 } // namespace
00073 
00074 #endif // include guard