laser_slam: util.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 
00039 #include <laser_slam/util.h>
00040 #include <pose_graph/graph_search.h>
00041 #include <graph_mapping_utils/geometry.h>
00042 #include <boost/foreach.hpp>
00043 
00044 namespace laser_slam
00045 {
00046 
00047 namespace util=graph_mapping_utils;
00048 
00049 pg::NodeSet largestComp (const pg::ConstraintGraph& g)
00050 {
00051   typedef std::vector<pg::NodeSet> Comps;
00052   Comps comps = connectedComponents(g);
00053   int best = -1;
00054   int best_comp=-1;
00055   for (int c=0; c<(int)comps.size(); c++) {
00056     if ((int)comps[c].size() > best) {
00057       best_comp = c;
00058       best = comps[c].size();
00059     }      
00060   }
00061   ROS_ASSERT(best_comp>=0);
00062   return comps[best_comp];
00063 }
00064 
00065 
00066 
00067 void optimizeGraph (pg::ConstraintGraph* g, pg::NodePoseMap* poses,
00068                     const pg::NodeSet& nodes, ros::ServiceClient& client)
00069 {
00070   msg::GetPoses srv;
00071   BOOST_FOREACH (const unsigned n, nodes)
00072     srv.request.nodes.push_back(n);
00073   if (!client.call(srv))
00074     ROS_ASSERT_MSG (false, "Service call to optimizer failed");
00075   poses->clear();
00076   for (unsigned i=0; i<srv.request.nodes.size(); i++)
00077     (*poses)[srv.request.nodes[i]] =
00078       util::toPose(srv.response.poses[i]);
00079   g->setOptimizedPoses(*poses);
00080 }
00081 
00082 
00083 } // namespace