SpaSolver.h

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/*
 * Copyright 2010 SRI International
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef KARTO_SPASOLVER_H
#define KARTO_SPASOLVER_H

#include "OpenKarto/OpenMapper.h"

#ifndef EIGEN_USE_NEW_STDVECTOR
#define EIGEN_USE_NEW_STDVECTOR
#endif // EIGEN_USE_NEW_STDVECTOR

#define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat(10)

#include <Eigen/Eigen>
#include <ros/time.h>

#include "spa2d.h"

typedef std::vector<karto::Matrix3> CovarianceVector;

class SpaSolver : public karto::ScanSolver
{
public:
        SpaSolver();
        virtual ~SpaSolver();

public:
        virtual void Clear();
        virtual void Compute();
        virtual const karto::ScanSolver::IdPoseVector& GetCorrections() const;

        virtual void AddNode(karto::Vertex<karto::LocalizedObjectPtr>* pVertex);
        virtual void AddConstraint(karto::Edge<karto::LocalizedObjectPtr>* pEdge);

        // Get the underlying graph from SBA
        // return the graph of constraints
        void getGraph(std::vector<float> &g) { m_Spa.getGraph(g); }
        void reCompute();

private:
        karto::ScanSolver::IdPoseVector corrections;

        SysSPA2d m_Spa;
        
        ros::Time mLastSPA;
};

#endif // KARTO_SPASOLVER_H