rotational_scan_matcher.h

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/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_

#include <vector>

#include "Eigen/Geometry"
#include "cartographer/mapping/trajectory_node.h"
#include "cartographer/sensor/point_cloud.h"

namespace cartographer {
namespace mapping_3d {
namespace scan_matching {

class RotationalScanMatcher {
 public:
  explicit RotationalScanMatcher(
      const std::vector<mapping::TrajectoryNode>& nodes, int histogram_size);

  RotationalScanMatcher(const RotationalScanMatcher&) = delete;
  RotationalScanMatcher& operator=(const RotationalScanMatcher&) = delete;

  // Scores how well a 'point_cloud' can be understood as rotated by certain
  // 'angles' relative to the 'nodes'. Each angle results in a score between
  // 0 (worst) and 1 (best).
  std::vector<float> Match(const sensor::PointCloud& point_cloud,
                           const std::vector<float>& angles) const;

 private:
  float MatchHistogram(const Eigen::VectorXf& scan_histogram) const;

  Eigen::VectorXf histogram_;
};

}  // namespace scan_matching
}  // namespace mapping_3d
}  // namespace cartographer

#endif  // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_