scan_match_localization.h

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

#include <graph_slam/scan_manager.h>
#include <pose_graph/transforms.h>

namespace graph_slam
{

struct LocalizationState
{
  LocalizationState (const pose_graph::NodeId n, const Eigen3::Affine3d trans, const Pose& pose,
                     const ros::Time& stamp) :
    ref_node(n), node_to_fixed_frame(trans), node_frame_pose(pose), stamp(stamp) {}
  
  pose_graph::NodeId ref_node;
  Eigen3::Affine3d node_to_fixed_frame;
  Pose node_frame_pose;
  ros::Time stamp;
};

class ScanMatchLocalization : public ScanManager
{
public:

  ScanMatchLocalization (const geometry_msgs::Pose2D& laser_offset, double neighborhood_size,
                         const unsigned localizations_per_scan_match);
                         
  LocalizationState nextState (const LocalizationState& state,
                               const Pose& fixed_frame_pose, const LaserPtr scan, 
                               const pose_graph::PoseGraph& graph, const NodePoseMap& optimized_poses) const;

  
private:

  const double max_link_length_;

  // Mutable because it is initialized in nextState, which is logically const
  mutable KartoMatcherPtr matcher_;

  const unsigned localizations_per_scan_match_;

};


  

  
  

} // namespace graph_slam

#endif // include guard