odom_constraint_generator.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#include <graph_slam/constraints/odom.h>
#include <pose_graph/transforms.h>
#include <pose_graph/utils.h>

namespace graph_slam
{

using graph_slam::GraphLocalization;
using pg::contains;
namespace pg=pose_graph;
using Eigen3::Affine3d;

void OdomConstraintGenerator::initializeFromGraph (const pg::PoseGraph& g, const std::vector<pg::NodeId>& node_sequence)
{
  if (node_sequence.size() > 0)
    last_node_ = *(--node_sequence.end());
}

void OdomConstraintGenerator::updateLocalization (const GraphLocalization& loc)
{
  ROS_ASSERT_MSG(false, "Not implemented!");
}

NodeConstraintVector OdomConstraintGenerator::getConstraints (const pg::PoseGraph& graph,
                                                              const pg::NodeId new_node,
                                                              const NodePoseMap& optimized_poses)
{
  NodeConstraintVector constraints;

  if (last_node_) {
    if (!contains(graph.neighbors(new_node), *last_node_)) {
      const Affine3d rel_transform = pg::relativeTransform(graph.getInitialPoseEstimate(new_node),
                                                              graph.getInitialPoseEstimate(*last_node_));
      // We're assuming an identity precision matrix
      pg::PoseConstraint constraint = pg::makeConstraint(rel_transform, pg::makePrecisionMatrix(1, 1, 1));
      constraints.push_back(NodeConstraint(*last_node_, constraint));
      ROS_DEBUG_STREAM_NAMED ("odom_constraint_generator", "Adding constraint from " << *last_node_ 
                              << " to " << new_node << " : " << constraint);
    }
    else {
      ROS_DEBUG_STREAM_NAMED ("odom_constraint_generator", "Not adding odom constraint between " << new_node <<
                              " and " << *last_node_ << " as there's already a constraint");
    }
  }
  else {
    ROS_DEBUG_NAMED ("odom_constraint_generator", "Not adding odom constraint for %lu as it's the first node",
                     new_node.getId());
  }
  last_node_ = new_node;
  return constraints;
}

} // namespace graph_slam