00001 /* 00002 * Copyright 2016 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_MOTION_FILTER_H_ 00018 #define CARTOGRAPHER_MAPPING_INTERNAL_MOTION_FILTER_H_ 00019 00020 #include <limits> 00021 00022 #include "cartographer/common/lua_parameter_dictionary.h" 00023 #include "cartographer/common/time.h" 00024 #include "cartographer/mapping/proto/motion_filter_options.pb.h" 00025 #include "cartographer/transform/rigid_transform.h" 00026 00027 namespace cartographer { 00028 namespace mapping { 00029 00030 proto::MotionFilterOptions CreateMotionFilterOptions( 00031 common::LuaParameterDictionary* parameter_dictionary); 00032 00033 // Takes poses as input and filters them to get fewer poses. 00034 class MotionFilter { 00035 public: 00036 explicit MotionFilter(const proto::MotionFilterOptions& options); 00037 00038 // If the accumulated motion (linear, rotational, or time) is above the 00039 // threshold, returns false. Otherwise the relative motion is accumulated and 00040 // true is returned. 00041 bool IsSimilar(common::Time time, const transform::Rigid3d& pose); 00042 00043 private: 00044 const proto::MotionFilterOptions options_; 00045 int num_total_ = 0; 00046 int num_different_ = 0; 00047 common::Time last_time_; 00048 transform::Rigid3d last_pose_; 00049 }; 00050 00051 } // namespace mapping 00052 } // namespace cartographer 00053 00054 #endif // CARTOGRAPHER_MAPPING_INTERNAL_MOTION_FILTER_H_