karto_laser_constraints.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef POSE_GRAPH_KARTO_LASER_CONSTRAINTS_H
#define POSE_GRAPH_KARTO_LASER_CONSTRAINTS_H

#include <graph_slam/constraint_generator.h>
#include <graph_slam/sequential_scan_matcher.h>
#include <graph_slam/loop_scan_matcher.h>
#include <ros/ros.h>
#include <boost/thread.hpp>

namespace graph_slam
{

namespace pg=pose_graph;

typedef boost::shared_ptr<SequentialScanMatcher> SeqMatcherPtr;
typedef boost::shared_ptr<LoopScanMatcher> LoopMatcherPtr;

/************************************************************
 * implements ConstraintGenerator; generates both
 * "near-chain", and loop-closure constraints, all based
 * on the Karto scan matcher
 ************************************************************/

class KartoLaserConstraints : public ConstraintGenerator
{
public:

  KartoLaserConstraints (double max_seq_link_length, unsigned min_seq_chain_length, 
                         double min_seq_link_response, double max_loop_link_length,
                         unsigned min_loop_chain_length, double min_loop_closure_response,
                         bool use_covariances);

  NodeConstraintVector getConstraints (const pg::PoseGraph& graph, const pg::NodeId new_node,
                                       const NodePoseMap& optimized_poses);
  void initializeFromGraph (const pg::PoseGraph& g, const std::vector<pg::NodeId>& node_sequence);
  void updateLocalization (const graph_slam::GraphLocalization& loc);

private:

  NodeConstraintVector scanOdomConstraints (const pg::PoseGraph& graph, const pg::NodeId new_node,
                                            const geometry_msgs::Pose& pose_estimate,
                                            const NodePoseMap& optimized_poses);
  NodeConstraintVector loopConstraints (const pg::PoseGraph& graph, const pg::NodeId new_node,
                                        const geometry_msgs::Pose& pose_estimate,
                                        const NodePoseMap& optimized_poses);
  void possiblyInitializeMatchers (const sensor_msgs::LaserScan& scan);

  const double max_sequential_link_length_;
  const unsigned min_sequential_chain_length_;
  const double min_sequential_link_response_;
  const double max_loop_link_length_;
  const unsigned min_loop_chain_length_;
  const double min_loop_closure_response_;
  const bool use_covariances_;

  ros::NodeHandle nh_;
  tf::TransformListener tf_;
  
  SeqMatcherPtr seq_matcher_;
  LoopMatcherPtr loop_matcher_;

  boost::optional<pg::NodeId> last_ref_node_;

  // Odometric pose of the current reference node, if it's set.
  // Defined in the current odometric frame (which might have drifted significantly 
  // from the odometric frame at the time the reference node was created)
  geometry_msgs::Pose ref_node_odom_pose_;
};

} // namespace graph_slam

#endif // include guard