OdometryEvent.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#ifndef ODOMETRYEVENT_H_
#define ODOMETRYEVENT_H_

#include "rtabmap/utilite/UEvent.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UMath.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/OdometryInfo.h"

namespace rtabmap {

class OdometryEvent : public UEvent
{
public:
        static cv::Mat generateCovarianceMatrix(float rotVariance, float transVariance)
        {
                UASSERT(uIsFinite(rotVariance) && rotVariance>0);
                UASSERT(uIsFinite(transVariance) && transVariance>0);
                cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
                covariance.at<double>(0,0) = transVariance;
                covariance.at<double>(1,1) = transVariance;
                covariance.at<double>(2,2) = transVariance;
                covariance.at<double>(3,3) = rotVariance;
                covariance.at<double>(4,4) = rotVariance;
                covariance.at<double>(5,5) = rotVariance;
                return covariance;
        }
public:
        OdometryEvent() :
                _covariance(cv::Mat::eye(6,6,CV_64FC1))
        {
        }
        OdometryEvent(
                const SensorData & data,
                const Transform & pose,
                const cv::Mat & covariance = cv::Mat::eye(6,6,CV_64FC1),
                const OdometryInfo & info = OdometryInfo()) :
                        _data(data),
                        _pose(pose),
                        _info(info)
        {
                UASSERT(covariance.cols == 6 && covariance.rows == 6 && covariance.type() == CV_64FC1);
                UASSERT_MSG(uIsFinite(covariance.at<double>(0,0)) && covariance.at<double>(0,0)>0, "Transitional variance should not be null! (set to 1 if unknown)");
                UASSERT_MSG(uIsFinite(covariance.at<double>(1,1)) && covariance.at<double>(1,1)>0, "Transitional variance should not be null! (set to 1 if unknown)");
                UASSERT_MSG(uIsFinite(covariance.at<double>(2,2)) && covariance.at<double>(2,2)>0, "Transitional variance should not be null! (set to 1 if unknown)");
                UASSERT_MSG(uIsFinite(covariance.at<double>(3,3)) && covariance.at<double>(3,3)>0, "Rotational variance should not be null! (set to 1 if unknown)");
                UASSERT_MSG(uIsFinite(covariance.at<double>(4,4)) && covariance.at<double>(4,4)>0, "Rotational variance should not be null! (set to 1 if unknown)");
                UASSERT_MSG(uIsFinite(covariance.at<double>(5,5)) && covariance.at<double>(5,5)>0, "Rotational variance should not be null! (set to 1 if unknown)");
                _covariance = covariance;
        }
        OdometryEvent(
                const SensorData & data,
                const Transform & pose,
                double rotVariance = 1.0,
                double transVariance = 1.0,
                const OdometryInfo & info = OdometryInfo()) :
                        _data(data),
                        _pose(pose),
                        _covariance(generateCovarianceMatrix(rotVariance, transVariance)),
                        _info(info)
        {
        }
        virtual ~OdometryEvent() {}
        virtual std::string getClassName() const {return "OdometryEvent";}

        SensorData & data() {return _data;}
        const SensorData & data() const {return _data;}
        const Transform & pose() const {return _pose;}
        const cv::Mat & covariance() const {return _covariance;}
        const OdometryInfo & info() const {return _info;}
        double rotVariance() const {return uMax3(_covariance.at<double>(3,3), _covariance.at<double>(4,4), _covariance.at<double>(5,5));}
        double transVariance() const {return uMax3(_covariance.at<double>(0,0), _covariance.at<double>(1,1), _covariance.at<double>(2,2));}

private:
        SensorData _data;
        Transform _pose;
        cv::Mat _covariance;
        OdometryInfo _info;
};

class OdometryResetEvent : public UEvent
{
public:
        OdometryResetEvent(){}
        virtual ~OdometryResetEvent() {}
        virtual std::string getClassName() const {return "OdometryResetEvent";}
};

}


#endif /* ODOMETRYEVENT_H_ */