pose_graph.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef POSE_GRAPH_POSE_GRAPH_H
#define POSE_GRAPH_POSE_GRAPH_H

#include "geometry.h"
#include "ids.h"
#include <occupancy_grid_utils/LocalizedCloud.h>
#include <boost/scoped_ptr.hpp>
#include <boost/optional.hpp>
#include <set>
#include <vector>

namespace pose_graph {

/************************************************************ 
 * Externally used defs (see also geometry.h and ids.h)
 ************************************************************/

struct ShortestPathResult
{
  bool path_found;
  
  std::vector<NodeId> nodes;

  std::vector<EdgeId> edges;

  double cost;
};

typedef std::map<NodeId, geometry_msgs::Pose> NodePoseMap;

const std::string OPTIMIZED_FRAME("graph_optimization");



/************************************************************
 * Main pose graph data structure
 ************************************************************/

class PoseGraphImpl;

class PoseGraph
{
public:


  /****************************************
   * Creation
   ****************************************/
  
  PoseGraph ();

  PoseGraph (const PoseGraph& g);

  PoseGraph& operator= (const PoseGraph& g);

  ~PoseGraph();
  
  
  /****************************************
   * Basic graph modification ops
   ****************************************/

  NodeId addNode ();

  void addNode (NodeId id);

  EdgeId addEdge (NodeId from, NodeId to, const PoseConstraint& constraint);

  void addEdge (NodeId from, NodeId to, const PoseConstraint& constraint, EdgeId id);

  void setInitialPoseEstimate (NodeId n, const geometry_msgs::Pose& pose);

  const geometry_msgs::Pose& getInitialPoseEstimate (NodeId n) const;


  /****************************************
   * Basic const ops
   ****************************************/

  std::set<NodeId> allNodes() const;

  std::set<EdgeId> allEdges() const;

  const PoseConstraint& getConstraint (EdgeId id) const;

  double edgeLength (EdgeId id) const;

  std::set<EdgeId> incidentEdges (NodeId n) const;

  std::pair<NodeId, NodeId> incidentNodes (EdgeId e) const;

  std::set<NodeId> neighbors (NodeId n) const;

  bool nodeIdExists (NodeId id) const;

  bool edgeIdExists (EdgeId id) const;

  PoseGraph subgraph (const std::set<NodeId>& nodes) const;

  geometry_msgs::Pose relativePose (NodeId n, NodeId ref) const;

  NodeId otherNode (const NodeId n, const EdgeId e) const;


  /****************************************
   * Graph search
   ****************************************/

  ShortestPathResult shortestPath(NodeId src, NodeId dest) const;

  std::set<NodeId> nearbyNodes (NodeId src, double radius) const;


  /****************************************
   * Sensor data attached to nodes
   ****************************************/

  void attachCloud (NodeId id, occupancy_grid_utils::LocalizedCloud::ConstPtr cloud);

  occupancy_grid_utils::LocalizedCloud::ConstPtr getCloud (NodeId id) const;

  bool hasCloud (NodeId id) const;

  void attachScan (NodeId id, sensor_msgs::LaserScan::ConstPtr cloud);

  sensor_msgs::LaserScan::ConstPtr getScan (NodeId id) const;

  bool hasScan (NodeId id) const;

  static std::string nodeFrameName (const NodeId id);
  
private:
  
  boost::scoped_ptr<PoseGraphImpl> impl_;

};


} //namespace pose_graph


#endif // POSE_GRAPH_POSE_GRAPH_H